Abstract: In a disc data store, wherein a read/write head is radially positionable by a feedback servomechanism to interact with a selectable one out of a plurality of radially equispaced data storage tracks on a rotary disc, the positioning errors resultant from phase errors between the plural signals available as the output of an optical grating head position transducer are eliminated by replacing one of the data storage tracks with a servo track by arranging that the period of the recursive, triangular wave position indicating signals from the transducer is equal to twice the radial spacing between tracks on the disc, by selecting as the exclusively-used position indicating signal that one of the plurality of transducer signals which brings the head to the center of the servo track with least offset, and, while employing that selected signal or its generated inverse as the feedback signal to the servomechanism applying that least offset as a correction when positioning the head over data storage tracks.

Abstract: A method and apparatus for controlling a stepper motor and a disk drive is described for minimization of stepper motor oscillations for a single step, minimizing the time taken for the stepper motor to move between tracks for multi-track seeks, and reduction of angular hysteresis due to the mechanical and magnetic properties of the stepper motor construction.This control is achieved using a microprocessor-based circuit adapted to drive the stepper motor in accordance with predetermined programs. Oscillations of the stepper motor are damped by controlling, using one program, the current applied to the stepper motor during the last step of its motion by switching this current on and off within small predetermined time intervals. The time taken to move between tracks is controlled by another program in which the non-linear torque speed characteristics of a particular stepper motor are matched by a non-linear pulse rate which is determined by data held in the memory of the microprocessor circuit.

Abstract: In a disk drive system which uses as stepper motor, overshooting of the desired final position is reduced by short-circuiting the windings of the stepper motor which normally remain open-circuit or are switched off. This short-circuiting provides a current path for any EMF induced in the unused windings. This effect is achieved by connecting a pair of transistors in parallel with each other and with each respective winding. The transistors are connected in opposite polarity to provide a short-circuit regardless of the polarity of the EMF across the windings. The transistors are connected to a microprocessor which is programmed such that the windings are selectively short circuited and the short circuits are applied at a predetermined time with regard to the step so that `damping` is optimized. The microprocessor may be programmed to switch the transistors on and off as desired giving flexible timing to suit different conditions. One or more stepper motor steps may be treated in this manner.

Abstract: A unique index mark is provided to avoid errors in addressing a memory location on a disk surface by correlating the commutation signal from a d.c. motor with a synchronizing signal present on one or more discrete tracks of the disk. The proportion of the synchronizing signals on one track depends on the number of phases of the d.c. motor although typically with a 2-phase motor one-half of the track contains the synchronizing signal, the other half of the track being erased. The commutation signals and the synchronizing signals are correlated using a microprocessor and a flip-flop. A sensing head looks for a synchronizing signal which is typically 10 individual data blocks of short duration. The detected blocks are counted in each half revolution of the disk, timed from the index edge and comparing the counts in successive half-revolutions in a comparator over several disk revolutions.