homing with Phase Z encoder on MESA 7i96s

now it's ok, my homing works properly. Thank you very much for your help. I now need to set it up to return to my Zero machine. Is it the Homing parmeter? or Homing Offset to apply an offset?

Hello,
After adjusting my Z-phrase for homing, I'm looking to gain some prediction on the positioning of my.
I have a 2000 puls quadrature encoder, which gives me a precision of 0.04 mm. However, I can't get within 0.15mm.
How can I get as close as possible to the maximum resolution of my encoder?

Thank you

is this a static error? ( error when not in motion )

If so and you already have as much P term as you can set  while
remaining stable, you can add some I term to eliminate the static error.

If it's a dynamic error ( error when in motion ) I would have to have a
halscope plot of the error to see whats going on.

it's a static error. But when I put “I” > 1 I get a joint tracking error.

Can you post a halscope plot of: 

1 Joint velocity
2. Joint following error