diff --git a/kstars/ekos/focus/focus.h b/kstars/ekos/focus/focus.h
--- a/kstars/ekos/focus/focus.h
+++ b/kstars/ekos/focus/focus.h
@@ -622,5 +622,7 @@
         // Experimental linear focuser.
         std::unique_ptr<FocusAlgorithmInterface> linearFocuser;
         int focuserAdditionalMovement { 0 };
+
+        bool hasDeviation { false };
 };
 }
diff --git a/kstars/ekos/focus/focus.cpp b/kstars/ekos/focus/focus.cpp
--- a/kstars/ekos/focus/focus.cpp
+++ b/kstars/ekos/focus/focus.cpp
@@ -453,6 +453,8 @@
         disconnect(oneFocuser, &ISD::GDInterface::numberUpdated, this, &Ekos::Focus::processFocusNumber);
     }
 
+    hasDeviation = currentFocuser->hasDeviation();
+
     canAbsMove = currentFocuser->canAbsMove();
 
     if (canAbsMove)
diff --git a/kstars/indi/indifocuser.h b/kstars/indi/indifocuser.h
--- a/kstars/indi/indifocuser.h
+++ b/kstars/indi/indifocuser.h
@@ -24,12 +24,17 @@
 {
         Q_OBJECT
 
+
     public:
         enum FocusDirection
         {
             FOCUS_INWARD,
             FOCUS_OUTWARD
         };
+        enum FocusDeviation
+        {
+            NIKONZ6
+        };
 
         explicit Focuser(GDInterface *iPtr) : DeviceDecorator(iPtr)
         {
@@ -61,6 +66,7 @@
         double getLastManualFocusDriveValue();
 
         bool hasBacklash();
+        bool hasDeviation();
         bool setBacklash(int32_t steps);
         int32_t getBacklash();
 
@@ -75,5 +81,7 @@
 
     private:
         uint32_t m_maxPosition {0};
+        int deviation = -1;
+
 };
 }
diff --git a/kstars/indi/indifocuser.cpp b/kstars/indi/indifocuser.cpp
--- a/kstars/indi/indifocuser.cpp
+++ b/kstars/indi/indifocuser.cpp
@@ -170,19 +170,34 @@
 bool Focuser::moveRel(int steps)
 {
     INumberVectorProperty *focusProp;
+
     if(canManualFocusDriveMove())
     {
         focusProp = baseDevice->getNumber("manualfocusdrive");
-        if (steps == getLastManualFocusDriveValue())
-            steps = steps + 1;
 
+        FocusDirection dir;
+        getFocusDirection(&dir);
+        if (dir == FOCUS_INWARD)
+            steps = -abs(steps);
+        else if (dir == FOCUS_OUTWARD)
+            steps = abs(steps);
+
+        //manualfocusdrive needs different steps value ​​at every turn
+        if (steps == getLastManualFocusDriveValue())
+            steps += 1;
+
+        //Nikon Z6 fails if step is -1, 0, 1
+        if (deviation == NIKONZ6)
+        {
+            if (abs(steps) < 2)
+                steps = 2;
+        }
     }
     else
     {
         focusProp = baseDevice->getNumber("REL_FOCUS_POSITION");
     }
 
-
     if (focusProp == nullptr)
         return false;
 
@@ -294,4 +309,15 @@
 
     return focusProp->np[0].value;
 }
+
+bool Focuser::hasDeviation()
+{
+    if (!strcmp(getDeviceName(), "Nikon DSLR Z6"))
+    {
+        deviation = NIKONZ6;
+        return true;
+    }
+    return false;
+}
+
 }