From Unofficial Zero Manual
Alignment is the calibration of the controller sine wave production to match the controller output to the motor's position precisely.
- This is performed once/first by Zero's Motor Commissioning process and then repeated later as a recalibration.
- It should generally be performed periodically as a preventative maintenance step.
The motor has sensors for encoder alignment to tell the exact angle of rotation of the rotor.
- If those sensors are inaccurate, encoding can be rough or fail entirely.
- The sensors are embedded within the motor so for owners they just compensate in the controller for the drift, or swap the motor if the signal is bad enough that the controller can’t work with it.