homing with Phase Z encoder on MESA 7i96s

Topic separated, finally.
@JackRay,
Please refrain from tainting existing topics with unrelated content, start a new topic next time.
Thank you.

I don't understand, I have to create another subject.

I've just created this topic:
"homing with Phase Z encoder on MESA 7i96s".

tommylight wrote:

Topic separated, finally.

... start a new topic next time.

It was for next time, not for this one, this one is fixed already.
Continue here.
Thank you.

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