Enhanced method and system of unloading magnetic heads

A velocity controlled head unloading system comprising:

• an actuator having a first terminal and a second terminal;
• a sense resistor having a first end and a second end, wherein said first end of said sense resistor is coupled to said second terminal of said actuator;
• an amplifier coupled to a power source and said first terminal of said actuator;
• an actuator BEMF control circuit coupled to said amplifier, said first terminal of said actuator, said second terminal of said actuator, said second end of said sense resistor, and to a reference voltage node, wherein said actuator BEMF control circuit uses a reference voltage of said reference voltage node, a BEMF of said actuator, and a voltage drop across said sense resistor to control said amplifier and in turn said amplifier regulates an actuator current to said actuator;
• wherein said actuator BEMF control circuit comprises an op-amp with an output terminal, a first input terminal, and a second input terminal;
• and
• wherein one of said first and second input terminals comprises an inverting terminal, and said inverting terminal is coupled through a first resistor to ground, through a second resistor to said first terminal of said actuator, and through a third resistor to said second end of said sense resistor;
• said second input terminal of said op-amp is coupled through a fourth resistor to said reference voltage node, and through a fifth resistor in parallel with a sixth resistor to said second terminal of said actuator;
• and
• said output terminal of said op-amp is coupled through a seventh resistor to said amplifier.