Determining repeatable runout cancellation information using PES information generated during self servo-writing operations

A method for generating a repeatable runout (RRO) compensation value set for a circular data track on a magnetic medium on a surface of a disk in a disk drive, wherein the magnetic medium has a plurality of previously-written spiral servo tracks for providing position information during a circular tracking operation, the method comprising:

• writing servo burst patterns at a first radial location on the magnetic data storage surface during a circular tracking operation using the spiral servo tracks, and storing first position error signals generated, using the spiral servo tracks, during the circular tracking operation for writing the servo burst patterns at the first radial location,
• writing servo burst patterns at a second radial location on the magnetic data storage surface during a circular tracking operation using the spiral servo tracks, and storing second position error signals generated, using the spiral servo tracks, during the circular tracking operation for writing the servo burst patterns at the second radial location,
• writing servo burst patterns at a third radial location on the magnetic data storage surface during a circular tracking operation using the spiral servo tracks, and storing third position error signals generated, using the spiral servo tracks, during the circular tracking operation for writing the servo burst patterns at the third radial location,
• writing servo burst patterns at a fourth radial location on the magnetic data storage surface during a circular tracking operation using the spiral servo tracks, and storing fourth position error signals generated, using the spiral servo tracks, during the circular tracking operation for writing the servo burst patterns at the fourth radial location, and
• generating the RRO compensation value set for a circular data track, defined by the servo burst patterns at the first, second, third and fourth radial locations, based on the stored first, second, third and fourth position error signals.