HEIDENHAIN iTNC 530 Service Manual page 165

Block diagram
of position
feedback control
with velocity
feedforward control
S
Noml
July 2002
∆ S
Noml
∆ t
v
S
+
a
S
–
a
S
Actl
MP1510.x
v
MP1080.x
v
+
Noml
+
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