Abstract: A multiple position programmable movement machine including movable transfer means; means for producing signals indicating the actual position of the transfer means; drive means coupled to the transfer means for moving the transfer means; and programmable electronic control means for the drive means to position the transfer means at a plurality of selected positions. The control includes segmented velocity-position profile means to produce velocity profile outputs in response to actual position signals and modification signal generation means for producing a modification signal at about the final velocity-position segment to correct differences between the actual and selected positions of the transfer means.