PID Loop for stepper motors

Ok thanks! Regarding the encoder scale, I have a rotary encoder with a resolution of 2000 steps/rev. Since it's directly connected to the motor axis, I've concluded an encoder scale of 2000/360 = 5.55. Is it correct?

Is this a rotary axis?
Is it a 2000 PPR encoder?

Yes, rotary acis with a 2000 ppr encoder!

Right so the scale would be 22.2222222
(8000/360)

This is because a 2000 line (PPR) encoder has 8000 counts per turn
when using quadrature.

Ok thank you very much, tomorrow I’ll retest everything and let you know if it works.

Ok so my mistake, the encoder has 1000 PPR. I've tried to move the axis at 90 degrees using both 1000/360 and 4000/360 encoder scales. The scale 1000/360 gives the correct effective angle, is there some problem?
Also, do you know why the axis moves so slowly, without changing speed?