8i20 setup current limits etc.

So, i have my 8i20 card doing its reference thing ("iq") I'm not getting a lot of response from shifting the start angle, the encoders "z" isn't set to phase zero. It works once referenced but doesn't have as much force as it should. I have tried setting the max and min limit as below.

setp hm2_5i23.0.8i20.0.2.current-minlim -7.5
All this does is makes the motor roll in one direction and the pid tune dosent seem to do anything. (It does without the min/max current setp statements) just seems to not be putting out full current.

maxlim and minlim should have the same absolute value
If you want full current you should set maxlim to 30 and minlim to -30

The motor is rated at 8.4a, shorthand be enough? Or should it be 30 ?

Is that continous or peak current?
If continous, then drive can be set much higher, but i would stay in the 15A range untill everything is working properly, then decide if it needs to be higher.

Yes. peak current can be 3 to 6 x the continuous current.

You should set the current limit to the drives peak current.

Okay,  so the problem im realising now is that my encoder "z" signal isn't set to the motor zero point. ( I read somewhere that you need to apply a dc voltage to u, with v and w connected to the other polarity. To get the motor zero point). There doesn't seem to be any offset available to correct this.  Is there?