Written-in error compensation method for coherent repeatable runout

The present invention recognizes that induced RRO is coherent, i.e., the RRO has a large degree of repeatability from track to track. The present invention is a zero acceleration profile (compensation) process that targets CRRO (Coherent RRO). A process of the present invention represents a considerable reduction in the factory calibration time compared to other compensation techniques currently used. The reduction in time is attributed to the fact that CRRO can be computed by averaging position error signals (PES) over multiple tracks as opposed to total RRO which is computed by averaging over multiple revolutions on the same track.