Method for secondary-actuator failure detection and recovery in a dual-stage actuator disk drive

1. A method for operating a dual-stage actuator disk drive, the disk drive including (a) a rotatable magnetic recording disk having a plurality of concentric data tracks containing servo positioning information; (b) a recording head movable across the disk, the head being capable of reading data and servo positioning information in the data tracks; (c) a voice-coil-motor (VCM) for moving the head; (d) a test location where movement of the VCM is limited; (e) a microactuator connected to the VCM, the head being connected to the microactuator; (f) a relative-position sensor for detecting the position of the microactuator relative to its neutral position; and (g) a servo control processor responsive to servo information read by the head and comprising (i) a dual-stage controller having a degraded-stability VCM controller with relatively high low-frequency gain and a microactuator controller for simultaneously generating a VCM control signal and a microactuator control signal, and (ii) a selectable single-stage controller for generating only a VCM control signal, the processor-implemented method comprising:

detecting a potential failure of the microactuator;

generating a location signal to the VCM to move the VCM to the test location and selecting the single-stage controller if a potential microactuator failure is detected;

generating a first test signal to the microactuator;

receiving a relative-position signal (RPS) from the relative-position sensor in response to the first test signal;

calculating the stroke of the microactuator from the first test signal and the RPS; and

posting a microactuator failure signal if the calculated stroke is outside a predetermined stroke range.

2. The method of claim 1 further comprising, if the calculated stroke is within the predetermined range, generating a series of second test signals to the microactuator, each of the second test signals in the series being at a frequency different from the other second test signals in the series; receiving a series of second relative-position signals in response to the series of second test signals; recording the gains and corresponding frequencies from each of the second relative-position signals; and posting a microactuator failure signal if the maximum recorded gain is outside a predetermined range.

3. The method of claim 2 further comprising, if the maximum recorded gain is within a predetermined range, posting a microactuator failure signal if the maximum recorded gain is at a recorded frequency outside a predetermined frequency range.

4. The method of claim 2 further comprising, if the maximum recorded gain is at a recorded frequency within said predetermined frequency range, modifying the parameters of the controller from the recorded gains and corresponding frequencies.

5. The method of claim 4 further comprising terminating subsequent modification of the controller parameters if the controller parameters have been modified more than a predetermined number of times within a predetermined time period.

6. The method of claim 1 further comprising, if the calculated stroke is within the predetermined range, generating a series of second test signals to the microactuator, each of the second test signals in the series being at a frequency different from the other second test signals in the series; receiving a series of second relative-position signals in response to the series of second test signals; and recording the phases and corresponding frequencies from each of the second relative-position signals.

7. The method of claim 1 wherein the servo control processor also includes a model of the dynamic response of the VCM and a model of the dynamic response of the microactuator, and wherein the processor-implemented method further comprises:

providing a modeled head-position output when the control signals from the dual-stage controller are input to the models; and wherein detecting a potential failure of the microactuator comprises determining if the difference between the modeled head-position output and the measured head position from the servo information read by the head is greater than a predetermined value.

8. The method of claim 1 wherein the servo control processor also includes a model of the dynamic response of the microactuator, and wherein the processor-implemented method further comprises:

providing a modeled output of the position of the microactuator relative to the VCM when the microactuator control signal from the dual-stage controller is input to the microactuator model; and wherein detecting a potential failure of the microactuator comprises determining if the difference between the modeled microactuator relative position and the measured relative microactuator position from the relative-position sensor is greater than a predetermined value.

9. The method of claim 1 wherein the microactuator is an electrostatic microactuator having a first set of movable and fixed electrodes and a second set of movable and fixed electrodes, and wherein receiving a RPS comprises measuring the change in capacitance across each set of electrodes in response to the test signal.

10. The method of claim 1 wherein the test location is a VCM crash stop and wherein generating a location signal to the VCM comprises biasing the VCM against the crash stop.

11. The method of claim 1 wherein the test location is a load/unload ramp and wherein generating a location signal to the VCM comprises biasing the VCM against the ramp.

12. A method for operating a dual-stage actuator disk drive, the disk drive including (a) a rotatable magnetic recording disk having a plurality of concentric data tracks containing servo positioning information; (b) a recording head movable across the disk, the head being capable of reading data and servo positioning information in the data tracks; (c) a primary actuator for moving the head; (d) a crash stop where movement of the primary actuator is limited; (e) a secondary actuator connected to the primary actuator, the head being connected to the secondary actuator; (f) a relative-position sensor for detecting the position of the secondary actuator relative to its neutral position; and (g) a servo control processor responsive to servo information read by the head and comprising a dual-stage controller for simultaneously generating a primary actuator control signal and a secondary actuator control signal, the processor-implemented method comprising:

generating a crash stop signal to the primary actuator to move the primary actuator to the crash stop;

generating a first test signal to the secondary actuator;

receiving a relative-position signal (RPS) from the relative-position sensor in response to the first test signal;

calculating the stroke of the secondary actuator from the first test signal and the RPS; and

posting a secondary actuator failure signal if the calculated stroke is outside a predetermined stroke range.

13. The method of claim 12 wherein the primary actuator is a voice-coil-motor (VCM).

14. The method of claim 12 wherein the secondary actuator is an electrostatic microactuator having a first set of movable and fixed electrodes and a second set of movable and fixed electrodes, and wherein receiving a RPS comprises measuring the change in capacitance across each set of electrodes in response to the test signal.

15. The method of claim 12 wherein the dual-stage controller has a degraded-stability primary-actuator controller with relatively high low-frequency gain and a secondary-actuator controller for simultaneously generating a primary-actuator control signal and a secondary-actuator control signal, and (ii) a selectable single-stage controller for generating only a primary-actuator control signal.