Accurate repeatable runout compensation in disk drives during seeks

A data storage device comprising:

• a first data storage disk having a first recording surface with servo wedges;
• a second data storage disk having a second recording surface;
• first and second read/write heads configured to move in unison in a radial direction relative to the first and second recording surfaces, respectively;
• and
• a controller configured to:
• rotate the first and second data storage disks,
• move the read head continuously across the first data storage disk in the radial direction from a first radial location to a second radial location while positioning the read head based on the servo wedges and a feed-forward correction signal and generating a position error signal (PES), wherein the first radial location is one of an inner diameter of the disk or an outer diameter of the disk and the second radial location is the other of the inner diameter of the disk or the outer diameter of the disk, and
• measure the generated PES at multiple radial locations of the first data storage disk as the read head is moved continuously in the radial direction, wherein each measured PES is input to an adaptive learning algorithm that corrects feed-forward coefficients for the feed-forward correction signal.

A data storage device comprising:

• a first data storage disk having a first recording surface with servo wedges;
• a second data storage disk having a second recording surface;
• first and second read/write heads configured to move in unison in a radial direction relative to the first and second recording surfaces, respectively;
• and
• a controller configured to:
• rotate the first and second data storage disks,
• move the read head continuously across the first data storage disk in the radial direction along a target path that crosses multiple data tracks on the first recording surface from a first radial location to a second radial location while positioning the read head based on the servo wedges and a feed-forward correction signal and generating a position error signal (PES), and
• measure the generated PES at multiple radial locations of the first data storage disk as the read head is moved continuously in the radial direction along the target path, wherein each measured PES is input to an adaptive learning algorithm that corrects feed-forward coefficients for the feed-forward correction signal.