Siemens SINUMERIK 840Di Function Manual page 423

Intermediate gear encoder on tool
Fig. 2-11
In order to adapt the actual-value resolution to the calculation resolution, the control
calculates the quotients from the "internal increments/mm" and the "encoder increments/mm"
as follows:
2.4 Closed-loop control
2.4
2.4.1 General
Position control of an axis/spindle
The closed-loop control of an axis consists of the current and speed control loop of the drive
plus a higher-level position control loop in the NC.
Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)
Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
Intermediate gear with encoder directly on the rotating tool
Detailed Description
2.4 Closed-loop control
2-49