Data storage device characterizing geometry of magnetic transitions

Description

CROSS-REFERENCE TO RELATED APPLICATION(S)

This application claims the benefit of priority of U.S. Provisional Application No. 61/950,766 filed Mar. 10, 2014, which is incorporated herein in its entirety.

BACKGROUND

Data storage devices such as disk drives comprise a disk and a head connected to a distal end of an actuator arm which is rotated about a pivot by a voice coil motor (VCM) to position the head radially over the disk. The disk comprises a plurality of radially spaced, concentric tracks for recording user data sectors and servo sectors. The servo sectors comprise head positioning information (e.g., a track address) which is read by the head and processed by a servo control system to control the actuator arm as it seeks from track to track.

FIG. 1 shows a prior art disk format 2 as comprising a number of servo tracks 4 defined by servo sectors 6₀-6_N recorded around the circumference of each servo track. Each servo sector 6_i comprises a preamble 8 for storing a periodic pattern, which allows proper gain adjustment and timing synchronization of the read signal, and a sync mark 10 for storing a special pattern used to symbol synchronize to a servo data field 12. The servo data field 12 stores coarse head positioning information, such as a servo track address, used to position the head over a target data track during a seek operation. Each servo sector 6_i further comprises groups of servo bursts 14 (e.g., N and Q servo bursts), which are recorded with a predetermined phase relative to one another and relative to the servo track centerlines. The phase based servo bursts 14 provide fine head position information used for centerline tracking while accessing a data track during write/read operations. A position error signal (PES) is generated by reading the servo bursts 14, wherein the PES represents a measured position of the head relative to a centerline of a target servo track. A servo controller processes the PES to generate a control signal applied to a head actuator (e.g., a voice coil motor) in order to actuate the head radially over the disk in a direction that reduces the PES.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows a prior art disk format comprising a plurality of servo sectors defining servo tracks.

FIG. 2A shows a data storage device in the form of a disk drive comprising a head actuated over a disk.

FIG. 2B shows an embodiment wherein the disk comprises a reference pattern comprising a plurality of magnetic transitions.

FIG. 2C is a flow diagram according to an embodiment wherein as the head moves across a width of the reference pattern a read signal is sampled, and the signal samples are processed to characterize a geometry of the magnetic transitions.

FIG. 3 shows an embodiment wherein the reference pattern comprises a substantially slanted reference pattern and the head is maintained at a substantially fixed radial location so that the head moves across the width of the reference pattern as the disk rotates.

FIG. 4 shows an embodiment wherein a first sector-to-sector time is measured for the head to pass over a first servo sector until the head passes over a second servo sector during a first revolution of the disk, and a second sector-to-sector time is measured for the head to pass over the first servo sector until the head passes over the second servo sector during a second revolution of the disk, wherein the head moves across the width of the reference pattern during the second sector-to-sector time.

FIGS. 5A and 5B show an embodiment wherein the signal samples of the reference pattern are processed to measure a phase shift of a nominal frequency due to the head moving across the width of the reference pattern.

FIGS. 6A-6C show an embodiment wherein a sector-to-sector time may vary due to variations in the disk rotation speed.

FIG. 7 plots a frequency of the signal samples versus the sector-to-sector time according to an embodiment.

FIG. 8 shows an embodiment wherein the phase shift profile representing the geometry of the magnetic transitions varies due to a skew angle of the head changing over the radius of the disk.

FIGS. 9A and 9B show an embodiment wherein the signal samples are parsed into sections each representing a cross-section of a periodic sequence in the reference pattern, and a raster image of the periodic sequence is generated by combining the sections.

FIG. 10 shows an embodiment wherein the head is moved across the width of the reference pattern at different starting locations and the resulting signal samples averaged.

FIG. 11 shows an embodiment wherein the signal samples are resampled and aligned in time before being averaged.

DETAILED DESCRIPTION

FIG. 2A shows a data storage device in the form of a disk drive according to an embodiment comprising a head 16 and a disk 18 comprising servo information (e.g., servo sectors 20₀-20_N) and a reference pattern (e.g., FIG. 2B) comprising a plurality of magnetic transitions. The data storage device further comprises control circuitry 22 configured to execute the flow diagram of FIG. 2C, wherein the servo information on the disk is processed to actuate the head over the disk (block 24), and a read signal is sampled from the head as the head moves across a width of the reference pattern at a substantially constant velocity to generate signal samples (block 26). The signal samples are processed to characterize a geometry of the magnetic transitions (block 28).

In the embodiment of FIG. 2A, a plurality of concentric servo tracks are defined by embedded servo sectors 20₀-20_N, wherein a plurality of concentric data tracks 30 are defined relative to the servo tracks at the same or different radial density. The control circuitry 22 processes a read signal 32 emanating from the head 16 to demodulate the servo sectors and generate a position error signal (PES) representing an error between the actual position of the head and a target position relative to a target track. The control circuitry 22 filters the PES using a suitable compensation filter to generate a control signal 34 applied to a voice coil motor (VCM) 36 which rotates an actuator arm 38 about a pivot in order to actuate the head 16 radially over the disk 18 in a direction that reduces the PES. The servo sectors 20₀-20_N may comprise any suitable head position information, such as a track address for coarse positioning and servo bursts for fine positioning. The servo bursts may comprise any suitable pattern, such as an amplitude based servo pattern or a phase based servo pattern (FIG. 1).

The recording quality of the data storage device may depend on the quality of the magnetic transitions written to the disk 18 by the write element. It may therefore be desirable to characterize a geometry of the magnetic transitions for a number of reasons, such as to screen out defective products, determine an optimal recording density (radial and/or linear density), calibrate write/read channel settings, evaluate the fabrication quality and consistency of the write element so as to improve fabrication processes, etc. FIG. 2B shows a periodic reference pattern written to the disk at a particular radial location wherein the skew angle and geometry of the write element causes the resulting magnetic transitions to exhibit a curved shape as compared to an ideal rectangular shape. Accordingly, it may be desirable to characterize the geometry of the magnetic transitions written to the disk, such as a curvature of the magnetic transitions.

Referring to FIG. 2B, the geometry of the magnetic transitions may be measured by servoing the read element 40 of the head at a varying offset relative to a center of the reference pattern. For example, the control circuitry 22 may servo the head 16 based on the servo sectors 20₀-20_N so as to maintain the read element 40 at the upper edge of the reference pattern and save the resulting signal samples during a first revolution of the disk. The control circuitry 22 may then step the read element 40 inward toward the center of the reference pattern and save the resulting signal samples during a second revolution of the disk. This process may then be repeated until multiple linear sections of the magnetic transitions have been generated, wherein the linear sections could be combined to form a complete geometric representation of the magnetic transitions. However, imperfections in the servo sectors 20₀-20_N may cause a relative distortion in the linear sections thereby distorting the measured geometry of the magnetic transitions. For example, there may be an error when stitching the sync marks in consecutive servo sectors (wedge) such that the sync marks are not exactly radially coherent, thereby introducing a timing error between the linear sections that is not easily compensated. In addition, imperfections in the servo bursts in the servo sectors 20₀-20_N may result in a non-linear position measurement relative to the off-track displacement of the read element 40. This non-linear distortion in the measured position of the read element 40 distorts the measured geometry of the magnetic transitions that is not easily compensated.

Instead of stepping the read element 40 across the width of the reference pattern to measure multiple linear sections of the reference pattern, in one embodiment the read element 40 is moved across the width of the reference pattern at a substantially constant velocity while saving the resulting signal samples. The saved signal samples are then processed to measure a geometry of the magnetic transitions that is substantially unaffected by imperfections in the servo sectors 20₀-20_N. An example of this embodiment is illustrated in FIG. 2B wherein the reference pattern comprises a substantially concentric reference pattern and the control circuitry processes the servo sectors 20₀-20_N to move the read element 40 radially over the disk at the substantially constant velocity across the width of the reference pattern. As explained in greater detail below, because the read element 40 moves across the width of the reference pattern at the substantially constant velocity, the resulting signal samples can be parsed into small sections of a magnetic transition which may be combined to form a complete geometric representation of the whole magnetic transition. In addition, in one embodiment the read element 40 moves across the width of the reference pattern during a single revolution of the disk and within the sector-to-sector time of two consecutive servo sectors, thereby avoiding the above described distortions caused by stepping the read element 40 across the width of the reference pattern over multiple disk revolutions based on servo sectors 20₀-20_N that may be radially incoherent as well as exhibit a non-linear radial position response. In some embodiments, some or all of the process shown in FIG. 2C, as well as the additional processing described in the figures below, may be carried out by control circuitry in a device that is separate from the disk drive (e.g., a spin stand or other testing/computing device) that can direct the movement of the head to accomplish the sampling and processing of signal samples.

FIG. 3 shows an embodiment wherein the reference pattern comprises a substantially slanted reference pattern, and the control circuitry process the servo sectors 20₀-20_N to maintain the head at a substantially fixed radial location so that the read element 40 moves across the width of the reference pattern at the substantially constant velocity as the disk rotates. In yet another embodiment, the read element 40 may be moved radially over a slanted reference pattern, and in general, the reference pattern is written and then read in a manner that causes the read element 40 to move across the width of the reference pattern so that the resulting signal samples provide a substantially distortion-free geometric representation of the magnetic transitions.

FIG. 4 shows an example where the read element 40 follows along trajectory 42 and moves across the width of the reference pattern during a single revolution of the disk and within the sector-to-sector time of two consecutive servo sectors. In one embodiment, a nominal frequency of the magnetic transitions is measured, and the signal samples are processed to measure a phase shift of the nominal frequency due to the head moving across the width of the reference pattern. In the embodiment of FIG. 4, the nominal frequency of the magnetic transitions is measured during a first revolution of the disk by servoing the read element 40 over the center of the reference pattern so that the read element 40 follows trajectory 44 while processing the resulting signal samples (e.g., computing a discrete Fourier transform (DFT)). During a second revolution of the disk, a phase shift of the nominal frequency is measured due to the head moving across the width of the reference pattern. This embodiment is illustrated in FIG. 5A wherein the center of the magnetic transitions in the reference pattern represent a zero phase shift. As the read element 40 moves across the width of the reference pattern the resulting signal samples are processed to measure the phase shift (represented as black arrows) relative to the center of the magnetic transitions. The phase shift may be measured in any suitable manner, such as by computing a DFT of the signal samples and comparing the result to the DFT of the signal samples while the read element 40 is servoed over the center of the reference pattern along trajectory 44. FIG. 5B illustrates how the measured phase shifts across the width of the reference pattern provides a geometric representation (e.g., curvature) of the magnetic transitions.

In one embodiment, there may be a time difference in the sector-to-sector time from the first disk revolution when reading the center of the reference pattern to measure the nominal frequency and the second disk revolution when reading across the width of the reference pattern to measure the phase shifts as shown in FIG. 5A. The time difference may be due, for example, to a difference in the rotation speed of the disk from the first disk revolution to the second disk revolution. This difference in rotation speed translates into a change in the nominal frequency of the magnetic transitions which may distort the measured phase shifts. Accordingly, in one embodiment a first sector-to-sector time when reading the center of the reference pattern (e.g., during the first disk revolution) is measured, and a second sector-to-sector time when reading across the width of the reference pattern (e.g., during the second disk revolution) is measured, and the difference in the sector-to-sector times is used to adjust the measured phase shifts. That is, the difference between the sector-to-sector times represents a frequency shift that is compensated when measuring the phase shifts shown in FIG. 5B.

In one embodiment illustrated in FIG. 7, the center of the reference pattern is read multiple times over multiple disk revolutions. For each disk revolution, a frequency of the magnetic transitions is measured as well as a corresponding sector-to-sector time. The data points may then be fitted to a curve (e.g., a line in the example of FIG. 7) using any suitable technique. A nominal frequency for the magnetic transitions is then selected at some point along the curve (e.g., the middle of the line) which has a corresponding nominal sector-to-sector time. When reading across the width of the reference pattern (e.g., when following trajectory 42 in FIG. 5A), the sector-to-sector time is measured and the corresponding frequency determined from the curve fitted function such as shown in FIG. 7. The difference between the nominal frequency and the measured frequency (the frequency difference) is then used to adjust the phase shift measurements.

Any suitable technique may be used to measure the sector-to-sector time in order to generate the corresponding relationship with the frequency of the magnetic transitions as determined from the rotation speed of the disk. FIGS. 6A-6C illustrate an embodiment wherein each servo sector comprises the same pattern of data, such as the sync mark or the high order bits of the track address shown in FIG. 1. When reading the reference pattern, the read signal is sampled with a fixed sampling clock at a known frequency. When the disk is rotating at the nominal speed, the resulting waveform shown in FIG. 6A will be generated with the same pattern of pulses in both servo sectors. When the rotation speed changes, the pattern of pulses in the second servo sector will shift right or left in time relative to the sampling clock. This shift in time (Δt) may be measured by correlating the signal samples of an arbitrary speed revolution with the signal samples of the nominal speed revolution. The correlation is computed while shifting the arbitrary signal samples of the pulses (e.g., FIG. 6B) in time relative to the nominal signal samples (FIG. 6A), wherein the shift in time (Δt) of the arbitrary signal samples relative to the nominal signal samples is identified when the correlation reaches a maximum. In the example of FIG. 6B, the correlation reaches a maximum when the arbitrary signal samples are shifted left in time until the pulses of the second servo sector align with the pulses of FIG. 6A (this shift is due to a slower disk rotation speed). In the example of FIG. 6C, the correlation reaches a maximum when the arbitrary signal samples are shifted right in time until the pulses align with the pulses of FIG. 6A (this shift is due to a faster disk rotation speed).

In one embodiment, the geometric shape of the magnetic transitions varies across the radius of the disk due to the varying skew angle of the head 16. FIG. 8 illustrates an example of this embodiment which shows a number of plots representing a varying phase shift (similar to FIG. 5B) across the width of the reference pattern. When the head is near the middle diameter (MD) of the disk where the head skew is substantially zero, there is only a small amount of curvature in the magnetic transitions. As the head moves toward the outer diameter (OD), the curvature increases toward the left side of the plot, and as the head moves toward the inner diameter (ID), the curvature increases toward the right side of the plot. The reversing effect in the curvature of the magnetic transitions as shown in FIG. 8 is due to the reversing skew angle of the head 16 as the head 16 moves from the OD to the ID.

In one embodiment after moving the read element 40 across the width of the reference pattern, the control circuitry 22 parses the signal samples into sections each representing a cross-section of a periodic sequence in the reference pattern as illustrated in the example of FIG. 9A, and then generates a raster image by combining the sections as illustrated in the example of FIG. 9B. That is, the sections of signal samples that represent a cross-section of the periodic sequence in the reference pattern (e.g., the signal samples representing a cross-section of a magnetic transition in FIG. 2B) are stacked vertically as shown in FIG. 9A thereby forming a complete raster image of the periodic sequence such as shown in FIG. 9B. In the example of FIG. 2B, the periodic sequence in the reference pattern comprises a repeating sequence of magnetic transitions, and therefore FIG. 9B shows a raster image representing a single magnetic transition. In other embodiments, the periodic sequence in the reference pattern may comprise a higher or lower frequency of magnetic transitions, a repeating sequence of random magnetic transitions, or any other suitable periodic sequence of magnetic transitions.

In one embodiment, prior to combining the sections of signal samples as shown in FIG. 9A the control circuitry 22 resamples the signal samples so that each section comprises the same number of signal samples. For example, in the embodiment shown in FIG. 9A the signal samples may be resampled so that each section of signal samples comprises ten signal samples. In this manner, the sections of signal samples align correctly when stacking the sections to form the raster image as illustrated in FIGS. 9A and 9B. In one embodiment, the above described sector-to-sector time and corresponding measured frequency of the magnetic transitions is used to resample the signal samples so that the total number of signal samples across the width of the reference pattern matches a target nominal value. In other words, if the reference pattern is sampled at the nominal frequency (nominal disk rotation speed), the total number of signal samples will match a target nominal value and each section will comprise the same number of signal samples without needing to resample. As the disk rotation speed varies from the nominal rotation speed, the frequency of the magnetic transitions deviates from the nominal frequency and therefore the signal samples are resampled to achieve the nominal number of signal samples across the width of the reference pattern. In other embodiments, the signal samples may be resampled to achieve any target number of signal samples per cross-section of the periodic sequence in the reference pattern so long as each section comprises the same number of signal samples. For example, the signal samples may be significantly up-sampled (e.g., to a multiple of the nominal frequency) so as to achieve a higher resolution in the resulting raster image.

FIG. 10 illustrates an embodiment wherein the control circuitry 22 processes the servo information to control the position of the head so that the head moves across the width of the reference pattern at a first starting location during a first revolution of the disk to generate first signal samples. For example, the control circuitry 22 may processes the servo information so that the head follows trajectory 46A as it moves across the width of the reference pattern. The control circuitry 22 then processes the servo information to control the position of the head so that the head moves across the width of the reference pattern at a second starting location different from the first starting location during a second revolution of the disk to generate second signal samples. For example, the control circuitry 22 may processes the servo information so that the head follows trajectory 46B as it moves across the width of the reference pattern. The control circuitry 22 may repeat this operation any suitable number of times, such as four times in the example shown in FIG. 10. The control circuitry 22 may then average the resulting signal samples to generate a combined sequence of signal samples, wherein the averaging may help reduce noise in the final sequence due, for example, to a low quality cross-section of the reference pattern along a single one of the trajectories. In one embodiment prior to averaging, the signal samples are resampled to account for the varying frequency of transitions due to the varying rotation speed of the disk when following the different trajectories shown in FIG. 10.

This embodiment is further understood with reference to the flow diagram of FIG. 11, wherein during a first disk revolution (block 48) the read signal from the head is sampled (block 50) as the head moves across the width of the reference pattern starting at a first location (e.g., to follow trajectory 46A of FIG. 10). The sector-to-sector time is measured as described above with reference to FIG. 4 (block 52), and the sector-to-sector time is used to resample the signal samples so as to comprise a target number of samples. During a second revolution of the disk (block 56), the read signal from the head is sampled (block 58) as the head moves across the width of the reference pattern starting at a second location (e.g., to follow trajectory 46B of FIG. 10). The sector-to-sector time is measured (block 60), and the sector-to-sector time is used to resample the signal samples so as to comprise the target number of samples. One of the resampled signal sample sequences is then shifted so that both signal sample sequences align in time, thereby compensating for any phase offset between the signal sample sequences (block 64). Any suitable technique may be employed to align the signal sample sequences, such as by shifting the sequences relative to a target one of the sequences and stopping when a correlation between the sequences reaches a maximum. After resampling the signal sample sequences so they comprise the same number of samples, and after aligning the resampled sequences, the signal samples across the sequences are averaged (block 66) thereby forming a combined, noise attenuated sequence of signal samples. The noise attenuated sequence may then be processed to measure a geometry of the magnetic transitions and/or to generate a raster image of the magnetic transitions as described above.

In one embodiment, the signal sample sequences are up-sampled (at blocks 54 and 62 of FIG. 11) so as to match the signal sample sequence that comprises the most number of samples. That is, the target number of samples for resampling equals the number of samples in the highest resolution signal sample sequence. In yet another embodiment, the signal sample sequences may be significantly up-sampled to any target frequency, such as a multiple of a nominal frequency, thereby increasing the resolution of all the signal sample sequences.

Any suitable control circuitry may be employed to implement the flow diagrams in the above embodiments, such as any suitable integrated circuit or circuits. For example, the control circuitry may be implemented within a read channel integrated circuit, or in a component separate from the read channel, such as a disk controller, or certain operations described above may be performed by a read channel and others by a disk controller. In one embodiment, the read channel and disk controller are implemented as separate integrated circuits, and in an alternative embodiment they are fabricated into a single integrated circuit or system on a chip (SOC). In addition, the control circuitry may include a suitable preamp circuit implemented as a separate integrated circuit, integrated into the read channel or disk controller circuit, or integrated into a SOC. In some embodiments the control circuitry may reside within a device external to the disk drive or other like storage devices.

In one embodiment, the control circuitry comprises a microprocessor executing instructions, the instructions being operable to cause the microprocessor to perform the flow diagrams described herein. The instructions may be stored in any computer-readable medium. In one embodiment, they may be stored on a non-volatile semiconductor memory external to the microprocessor, or integrated with the microprocessor in a SOC. In another embodiment, the instructions are stored on the disk and read into a volatile semiconductor memory when the disk drive is powered on. In yet another embodiment, the control circuitry comprises suitable logic circuitry, such as state machine circuitry.

While the above examples concern a disk drive, the various embodiments are not limited to a disk drive and can be applied to other data storage devices and systems, such as magnetic tape drives, solid state drives, hybrid drives, etc. In addition, some embodiments may include electronic devices such as computing devices, data server devices, media content storage devices, etc. that comprise the storage media and/or control circuitry as described above.

The various features and processes described above may be used independently of one another, or may be combined in various ways. All possible combinations and subcombinations are intended to fall within the scope of this disclosure. In addition, certain method, event or process blocks may be omitted in some implementations. The methods and processes described herein are also not limited to any particular sequence, and the blocks or states relating thereto can be performed in other sequences that are appropriate. For example, described tasks or events may be performed in an order other than that specifically disclosed, or multiple may be combined in a single block or state. The example tasks or events may be performed in serial, in parallel, or in some other manner. Tasks or events may be added to or removed from the disclosed example embodiments. The example systems and components described herein may be configured differently than described. For example, elements may be added to, removed from, or rearranged compared to the disclosed example embodiments.

While certain example embodiments have been described, these embodiments have been presented by way of example only, and are not intended to limit the scope of the inventions disclosed herein. Thus, nothing in the foregoing description is intended to imply that any particular feature, characteristic, step, module, or block is necessary or indispensable. Indeed, the novel methods and systems described herein may be embodied in a variety of other forms; furthermore, various omissions, substitutions and changes in the form of the methods and systems described herein may be made without departing from the spirit of the embodiments disclosed herein.