diff --git a/simscape_subsystems/index.org b/simscape_subsystems/index.org
index 192d338..463fc0b 100644
--- a/simscape_subsystems/index.org
+++ b/simscape_subsystems/index.org
@@ -506,12 +506,11 @@ The Simscape model of the Spindle is composed of:
 :END:
 #+begin_src matlab
   arguments
-      args.rigid logical {mustBeNumericOrLogical} = false
-      args.x0  (1,1) double {mustBeNumeric} = 0 % [m]
-      args.y0  (1,1) double {mustBeNumeric} = 0 % [m]
-      args.z0  (1,1) double {mustBeNumeric} = 0 % [m]
-      args.rx0 (1,1) double {mustBeNumeric} = 0 % [rad]
-      args.ry0 (1,1) double {mustBeNumeric} = 0 % [rad]
+      args.x0  (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [m]
+      args.y0  (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [m]
+      args.z0  (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [m]
+      args.rx0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [rad]
+      args.ry0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [rad]
   end
 #+end_src
 
@@ -1199,29 +1198,32 @@ The =sample= structure is saved.
 :UNNUMBERED: t
 :END:
 #+begin_src matlab
-      %% Spindle - Rz
-      t = 0:Ts:Tmax; % Time Vector [s]
-      Rz   = zeros(length(t), 1);
-      Rzd  = zeros(length(t), 1);
-      Rzdd = zeros(length(t), 1);
+  %% Spindle - Rz
+  t = 0:Ts:Tmax; % Time Vector [s]
+  Rz   = zeros(length(t), 1);
+  Rzd  = zeros(length(t), 1);
+  Rzdd = zeros(length(t), 1);
 
-      switch args.Rz_type
-        case 'constant'
-          Rz(:) = args.Rz_amplitude;
-          Rzd(:)   = 0;
-          Rzdd(:)  = 0;
-        case 'rotating'
-          Rz(:) = args.Rz_amplitude+2*pi/args.Rz_period*t;
+  switch args.Rz_type
+    case 'constant'
+      Rz(:)   = args.Rz_amplitude;
+      Rzd(:)  = 0;
+      Rzdd(:) = 0;
+    case 'rotating'
+      Rz(:) = 2*pi/args.Rz_period*t;
 
-          % The signal is filtered out
-          Rz   = lsim(H_lpf,     Rz, t);
-          Rzd  = lsim(H_lpf*s,   Rz, t);
-          Rzdd = lsim(H_lpf*s^2, Rz, t);
-        otherwise
-          warning('Rz_type is not set correctly');
-      end
+      % The signal is filtered out
+      Rz   = lsim(H_lpf,     Rz, t);
+      Rzd  = lsim(H_lpf*s,   Rz, t);
+      Rzdd = lsim(H_lpf*s^2, Rz, t);
 
-      Rz = struct('time', t, 'signals', struct('values', Rz), 'deriv', Rzd, 'dderiv', Rzdd);
+      % We add the angle offset
+      Rz = Rz + args.Rz_amplitude;
+    otherwise
+      warning('Rz_type is not set correctly');
+  end
+
+  Rz = struct('time', t, 'signals', struct('values', Rz), 'deriv', Rzd, 'dderiv', Rzdd);
 #+end_src
 
 ** Micro Hexapod
diff --git a/simscape_subsystems/spindle_D.slx b/simscape_subsystems/spindle_D.slx
index ad3a3e4..019d296 100644
Binary files a/simscape_subsystems/spindle_D.slx and b/simscape_subsystems/spindle_D.slx differ
diff --git a/src/initializeReferences.m b/src/initializeReferences.m
index 96e67ff..edeb59e 100644
--- a/src/initializeReferences.m
+++ b/src/initializeReferences.m
@@ -118,16 +118,19 @@ Rzdd = zeros(length(t), 1);
 
 switch args.Rz_type
   case 'constant'
-    Rz(:) = args.Rz_amplitude;
-    Rzd(:)   = 0;
-    Rzdd(:)  = 0;
+    Rz(:)   = args.Rz_amplitude;
+    Rzd(:)  = 0;
+    Rzdd(:) = 0;
   case 'rotating'
-    Rz(:) = args.Rz_amplitude+2*pi/args.Rz_period*t;
+    Rz(:) = 2*pi/args.Rz_period*t;
 
     % The signal is filtered out
     Rz   = lsim(H_lpf,     Rz, t);
     Rzd  = lsim(H_lpf*s,   Rz, t);
     Rzdd = lsim(H_lpf*s^2, Rz, t);
+
+    % We add the angle offset
+    Rz = Rz + args.Rz_amplitude;
   otherwise
     warning('Rz_type is not set correctly');
 end
diff --git a/src/initializeRz.m b/src/initializeRz.m
index e2b8e00..6c23788 100644
--- a/src/initializeRz.m
+++ b/src/initializeRz.m
@@ -1,12 +1,11 @@
 function [rz] = initializeRz(args)
 
 arguments
-    args.rigid logical {mustBeNumericOrLogical} = false
-    args.x0  (1,1) double {mustBeNumeric} = 0 % [m]
-    args.y0  (1,1) double {mustBeNumeric} = 0 % [m]
-    args.z0  (1,1) double {mustBeNumeric} = 0 % [m]
-    args.rx0 (1,1) double {mustBeNumeric} = 0 % [rad]
-    args.ry0 (1,1) double {mustBeNumeric} = 0 % [rad]
+    args.x0  (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [m]
+    args.y0  (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [m]
+    args.z0  (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [m]
+    args.rx0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [rad]
+    args.ry0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [rad]
 end
 
 rz = struct();