ISO/IEC 16969:1999

INTERNATIONAL ISO/IEC
STANDARD 16969
First edition
1999-10-01
Information technology — Data interchange
on 120 mm optical disk cartridges
using +RW format — Capacity: 3,0 Gbytes
and 6,0 Gbytes
Technologies de l'information — Échange de données sur cartouches
de disque optique de 120 mm utilisant le format +RW — Capacité: 3,0
Gbytes et 6,0 Gbytes
Reference number
ISO/IEC 16969:1999(E)
©
ISO 1999

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ISO/IEC 16969:1999(E)
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© ISO/IEC 1999 – All rights reserved
ii

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ISO/IEC 16969:1999(E)
Contents Page
Foreword viii
1. Scope 1
2. Conformance 1
2.1. Optical Disk 1
2.2. Generating system 1
2.3. Receiving system 1
2.4. Compatibility statement 1
3. Normative reference 1
4. Definitions 2
5. Conventions and notations 3
5.1. Representation of numbers 3
5.2. Names 3
6. List of acronyms 4
7. General description of the optical disk 4
8. General Requirements 5
8.1. Environments 5
8.1.1. Test environment 5
8.1.2. Operating environment 5
8.1.3. Storage environment 6
8.1.4. Transportation 6
8.2. Safety requirements 6
8.3. Flammability 6
9. Reference Drive 6
9.1. Optical system 6
9.2. Optical beam 7
9.3. Read channel 1 7
9.4. Disk clamping 8
9.5. Rotation of the disk 8
9.6. Tracking channel (Read channel 2) 8
9.6.1. Normalized servo transfer function 8
9.6.2. Reference Servo for Axial Tracking 9
9.6.3. Reference Servo for Radial Tracking 10
10. Dimensional characteristics 11
10.1. Reference Planes 11
10.2. Overall dimensions 11
10.3. First transition area 12
10.4. Second transition area 12
10.5. Clamping Zone 12
10.6. Third transition area 12
10.7. Information Zone 13
10.8. Rim area 13
10.9. Remark on tolerances 13
11. Mechanical characteristics 14
11.1. Mass 14
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ISO/IEC 16969:1999(E)
11.2. Moment of inertia 14
11.3. Dynamic imbalance 14
11.4. Axial runout 15
11.5. Radial runout 15
12. Optical characteristics 15
12.1. Index of refraction 15
12.2. Thickness of the substrate 15
12.3. Reflectivity 16
12.4. Birefringence 16
12.5. Angular deviation 16
13. Data format 17
13.1. Data Frames 17
13.1.1. Identification Data (ID) 18
13.1.2. ID Error Detection Code (IED) 19
13.1.3. RSV 19
13.1.4. Error Detection Code (EDC) 19
13.2. Scrambled Frames 19
13.3. ECC Blocks 20
13.4. Recording Frames 22
13.5. Modulation and NRZI conversion 22
13.6. Physical Sectors 23
13.7. Layout of a Recording Unit Block (RUB) 24
13.7.1. Sync Frames used for linking 24
13.7.2. Start Position Shift (SPS) 25
13.7.3. Recording Unit Block position 25
13.8. d.c. component suppression control 26
14. Track format 26
14.1. Track shape 26
14.2. Track path 27
14.3. Track pitch 27
14.4. Track number 27
14.5. Track layout 27
14.5.1. Segment layout 28
14.5.2. AFCMs 29
15. General description of the Information Zone 31
16. Layout of the Information Zone 31
16.1. Physical Sector Numbers (PSNs) 32
17. Lead-in Zone 33
17.1. Initial Zone 34
17.2. Reference Code Zone 34
17.3. Buffer Zone 1 34
17.4. Control Data Zone 35
17.4.1. Physical format information 35
17.4.2. Disk manufacturing information 39
17.4.3. Content provider information 39
17.5. Buffer Zone 2 39
17.6. Connection Zone 39
17.7. Guard Zone 1 40
17.8. Inner Disk Test Zone 40
17.9. Inner Drive Test Zone 40
17.10. Guard Zone 2 40
17.11. DMA Zone 1 40
17.12. Inner Disk Identification Zone 40
17.13. DMA Zone 2 40
18. Data Zone 40
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ISO/IEC 16969:1999(E)
19. Lead-out Zone 40
19.1. DMA Zone 3 41
19.2. Outer Disk Identification Zone 41
19.3. DMA Zone 4 41
19.4. Guard Zone 3 41
19.5. Outer Drive Test Zone 41
19.6. Outer Disk Test Zone 41
19.7. Guard Zone 4 41
20. The use of the Defect Management Areas 41
20.1. Defect Management Areas 42
20.2. Primary Defect List (PDL) 42
20.3. Secondary Defect List (SDL) 43
20.4. Assignment of Logical Sector Numbers (LSNs) 45
20.5. Slipping and Linear Replacement algorithms and requirements 45
21. Disk Control ECC Blocks (DCBs) 45
21.1. Format of Disk Control ECC Blocks 45
22. General 47
23. Method of testing 47
23.1. Environment 47
23.2. Reference Drive 47
23.2.1. Optics and mechanics 47
23.2.2. Read power 47
23.2.3. Read channels 47
23.2.4. Tracking 47
23.3. Definition of signals 47
24. Characteristics of the groove signals 48
24.1. Push-pull signal 48
24.2. Track Cross signal 48
24.3. Phase depth 48
24.4. Normalized wobble signal 49
24.5. Characteristics of the wobble 49
24.6. Characteristics of the Alternating Fine Clock Marks (AFCM) 49
25. Method of testing 49
25.1. Environment 49
25.2. Reference Drive 49
25.2.1. Optics and mechanics 49
25.2.2. Read power 49
25.2.3. Read channels 49
25.2.4. Tracking 50
25.2.5. Scanning velocity 50
25.3. Write conditions for Rewritable area 50
25.3.1. Write pulse waveform 50
25.3.2. Write power 50
25.3.3. Measurement conditions 50
25.4. Jitter 50
25.5. Channel bit length 51
25.6. Phase depth 51
25.7. Definition of signals 51
25.7.1. High frequency signals (HF) 51
25.7.2. Modulated amplitude 51
25.7.3. Reflectivity-modulation product 51
25.7.4. Signal asymmetry 52
25.7.5. Push-pull signal 52
25.7.6. Track Cross signal 52
25.7.7. Differential phase tracking error signal 52
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ISO/IEC 16969:1999(E)
26. Method of testing 53
26.1. Environment 53
26.2. Reference Drive 54
26.2.1. Optics and mechanics 54
26.2.2. Read power 54
26.2.3. Read channels 54
26.2.4. Error correction 54
26.2.5. Tracking 54
27. Minimum quality of a Recording Unit Block 54
27.1. User-written data 54
27.2. Embossed data 54
28. Data interchange requirements 54
28.1. Tracking 54
28.2. User-written data 54
28.3. Quality of disk 55
Annex A 56
(normative) 56
Measurement of light reflectivity 56
A.1 Calibration method 56
A.2 Measuring method 57
Annex B 58
(normative) 58
Measurement of birefringence 58
B.1 Principle of the measurement 58
B.2 Measurements conditions 59
B.3 Example of a measurement set-up 59
Annex C 57
(normative) 60
Measuring conditions for operation signal 60
C.1 System diagram for jitter measurement and determination of the
characteristics of user data 60
C.2 Open loop transfer function for PLL 61
C.3 Slicer 61
C.4 Conditions for measurement 61
C.5 Measurement 62
Annex D 63
(normative) 63
Measurement of the differential phase tracking error 63
D.1 Measuring method for the differential phase tracking error 63
D.2 Measurement of ����t /T without time interval analyzer 63
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ISO/IEC 16969:1999(E)
Annex E 65
(normative) 65
The write pulse wave form for testing 65
Annex F 67
(normative) 67
8-to-16 Modulation 67
Annex G 75
(normative) 75
Optimum Power Control 75
G.1 Optimum recording power 75
G.2 OPC procedure for media testing 76
Annex H 77
(normative) 77
Logical to Physical address translation 77
Annex J 79
(normative) 79
Recording Unit Block positioning 79
J.1 Variations in start position 79
J.2 Example calculation 79
Annex K 80
(informative) 80
Transportation 80
K.1 General 80
K.2 Packaging 80
K.2.1 Temperature and humidity 80
K.2.2 Impact loads and vibrations 80
Annex L 81
(informative) 81
Measurement of the groove wobble amplitude 81
L.1 Relation between normalized wobble signal and wobble amplitude 81
L.2 Tolerances of the normalized wobble signal and the AFCM signal 81
Annex M 83
(informative) 83
ADIP Encoding Process 83
Annex N 84
(informative) 84
Values to be Implemented in Existing and Future Specifications 84
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ISO/IEC 16969:1999(E)
Foreword
ISO (the International Organization for Standardization) and IEC (the International Electrotechnical Commission)
form the specialized system for worldwide standardization. National bodies that are members of ISO or IEC
participate in the development of International Standards through technical committees established by the
respective organization to deal with particular fields of technical activity. ISO and IEC technical committees
collaborate in fields of mutual interest. Other international organizations, governmental and non-governmental, in
liaison with ISO and IEC, also take part in the work.
International Standards are drafted in accordance with the rules given in the ISO/IEC Directives, Part 3.
In the field of information technology, ISO and IEC have established a joint technical committee, ISO/IEC JTC 1.
Draft International Standards adopted by the joint technical committee are circulated to national bodies for voting.
Publication as an International Standard requires approval by at least 75 % of the national bodies casting a vote.
This International Standard was prepared by ECMA (as ECMA-274) and was adopted, under a special “fast-track
procedure”, by Joint Technical Committee ISO/IEC JTC 1, Information technology, in parallel with its approval by
national bodies of ISO and IEC.
Annexes A to J form an integral part of this International Standard, annexes K to N are for information only.
.
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INTERNATIONAL STANDARD ISO/IEC 16969:1999(E)
Information technology - Data interchange on 120 mm optical disk cartridges using
+RW format - Capacity: 3,0 Gbytes and 6,0 Gbytes
Section 1 - General
1 Scope
This International Standard specifies the mechanical, physical and optical characteristics of 120 mm
rewritable optical disks with capacities of 3,0 Gbytes and 6,0 Gbytes. It specifies the quality of the recorded and
unrecorded signals, the format of the data and the recording method, thereby allowing for information interchange
by means of such disks. The data can be written, read and overwritten many times using the phase change
method. These disks are identified as +RW.
This International Standard specifies
� two related but different Types of this disk (see clause 7),
� the conditions for conformance,
� the environments in which the disk is to be tested, operated and stored,
� the mechanical, physical and dimensional characteristics of the disk, so as to provide mechanical interchange
between data processing systems,
� the format of the information on the disk, including the physical disposition of the tracks and sectors, the error
correcting codes and the coding method,
� the characteristics of the signals recorded on the disk, thus enabling data processing systems to read the data
from the disk.
This International Standard provides for the interchange of disks between optical disk drives. Together with a
standard for volume and file structure, it provides for full data interchange between data processing systems.
2 Conformance
2.1 Optical Disk
A claim of conformance with this International Standard shall specify the Type implemented. An optical disk shall
be in conformance with this International Standard if it meets all mandatory requirements specified for its Type.
2.2 Generating system
A generating system shall be in conformance with this International Standard if the optical disk it generates is in
accordance with 2.1.
2.3 Receiving system
A receiving system shall be in conformance with this International Standard if it is able to handle both Types of
optical disk according to 2.1.
2.4 Compatibility statement
A claim of conformance by a Generating or Receiving system with this International Standard shall include a
statement listing any other ECMA and International Standards supported. This statement shall specify the numbers
of the standards, the optical disk types supported (where appropriate) and whether support includes reading only or
both reading and writing.
3 Normative reference
The following standard contains provisions which, through reference in this text, constitutes provisions of this
International Standard. At the time of publication, the edition indicated was valid. All standards are subject to
revision, and parties to agreements based on this International Standard are encouraged to investigate the
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ISO/IEC 16969:1999(E)
possibility of applying the most recent edition of the standard indicated below. Members of IEC and ISO maintain
registers of currently valid International Standards.
IEC 60950:1999, Safety of information technology equipment.
4 Definitions
For the purposes of this International Standard the following definitions apply.
4.1 Alternating Fine Clock Mark (AFCM): A single cycle deviation of the track from the average track
centreline which is recorded periodically.
4.2 Channel bit: The elements by which the binary values ZERO and ONE are represented by marks and
spaces on the disk.
4.3 Clamping Zone: The annular part of the disk within which the clamping force is applied by the clamping
device.
4.4 Digital Sum Value (DSV): The arithmetic sum obtained from a bit stream by allocating the decimal value
1to bits settoONEandthedecimalvalue-1to bits settoZERO.
4.5 Disk Reference Plane: A plane defined by the perfectly flat annular surface of an ideal spindle onto
which the clamping Zone of the disk is clamped, and which is normal to the axis of rotation.
4.6 dummy substrate: A layer which may be transparent or not, provided for the mechanical support of the
disk, and in some cases, of the recording layer as well.
4.7 entrance surface: The surface of the disk onto which the optical beam first impinges.
4.8 field: A subdivision of a sector.
4.9 interleaving: The process of reallocating the physical sequence of units of data so as to render the data
more immune to burst errors.
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ISO/IEC 16969:1999(E)
4.10 land and groove: A trench-like feature of the disk, applied before the recording of any information, and
used to define the track location. The groove is located nearer to the entrance surface than the land. The
recording is made in the groove.
4.11 mark: A feature of the recording layer which may take the form of an amorphous domain, a pit, or any
other type or form that can be sensed by the optical system. The pattern of marks and spaces represents
the data on the disk.
4.12 phase change: A physical effect by which the area of a recording layer irradiated by a laser beam is
heated so as to change from an amorphous state to a crystalline state and vice versa.
4.13 Physical Sector: The smallest addressable part of a track in the Information Zone of a disk that can be
accessed independently of other addressable parts of the Zone.
4.14 recording layer: A layer of the disk on which data is written during manufacture and / or use.
4.15 Reed-Solomon code (RS): An error detection and / or correction code.
4.16 segment number: Angular location information contained in wobble data.
4.17 space: A feature of the recording layer which may take the form of an crystalline, a non-pit, or any other
type or form that can be sensed by the optical system. The pattern of marks and spaces represents the
data on the disk.
4.18 substrate: A transparent layer of the disk, provided for mechanical support of the recording layer, through
which the optical beam accesses the recording layer.
4.19 track: A 360� turn of a continuous spiral.
4.20 track number: Radial location information contained in the wobble data, designating the track count in
the rewritable region of the disk.
4.21 track pitch: The distance between adjacent track centrelines, measured in a radial direction.
4.22 wobble: A continuous sinusoidal deviation of the track from the average centreline. Location information
is included as frequency modulated data in the wobble.
4.23 zone: An annular area of the disk.
5 Conventions and notations
5.1 Representation of numbers
A measured value is rounded off to the least significant digit of the corresponding specified value. For instance, it
implies that a specified value of 1,26 with a positive tolerance of + 0,01 and a negative tolerance of - 0,02 allows a
range of measured values from 1,235 to 1,275.
Numbers in decimal notations are represented by the digits 0 to 9.
Numbers in hexadecimal notation are represented by the hexadecimal digits 0 to 9 and A to F in parentheses.
The setting of bits is denoted by ZERO and ONE.
Numbers in binary notations and bit patterns are represented by strings of digits 0 and 1, with the most significant
bit shown to the left. In a pattern of n bits, bit b shall be the most significant bit (msb) and bit b shall be the least
n-1 0
significant bit (lsb). Bit b shall be recorded first.
n-1
Negative values of numbers in binary notation are given as Two’s complement.
In each data field, the data is recorded so that the most significant byte (MSB), identified as Byte 0, shall be
recorded first and the least significant byte (LSB) last.
In a field of 8n bits, bit b shall be the most significant bit (msb) and bit b the least significant bit (lsb).
(8n-1) 0
Bit b shall be recorded first.
(8n-1)
5.2 Names
The names of entities, e.g. specific tracks, fields, etc., are given with an initial capital.
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ISO/IEC 16969:1999(E)
6 Listofacronyms
ADIP Address in Pre-groove LSB Least Significant Byte
AFCM Alternating Fine Clock Mark msb Most Significant Bit
BP Byte Position MSB Most Significant Byte
BPF Band Pass Filter NRZ Non Return to Zero
CAV Constant Angular Velocity NRZI Non Return to Zero Inverted
CLV Constant Linear Velocity OPC Optimum Power Control
DCB Disk Control ECC Block PBS Polarizing Beam Splitter
DCC d.c. component suppression Control PDL Primary Defect List
DMA Defect Management Area PI Parity of Inner-code
DSV Digital Sum Value PLL Phase Locked Loop
ECC Error Correction Code PSN Physical Sector Number
EDC Error Detection Code PO Parity of Outer-code
FM Frequency Modulation RS Reed-Solomon code
HF High Frequency RUB Recording Unit Block
ID Identification Data SDL Secondary Defect List
IED ID Error Detection code SI Spare Interval
LPF Low Pass filter SL Spare Length
LSN Logical Sector Number SPS Start Position Shift
lsb Least Significant Bit SYNC Synchronization code
7 General description of the optical disk
The optical disk that is the subject of this International Standard consists of two substrates bonded together by an
adhesive layer, so that the recording layer(s) is (are) on the inside. The centring of the disk is performed on the
edge of the centre hole of the assembled disk on the side currently accessed. Clamping is performed in the
Clamping Zone. This International Standard provides for two Types of such disks.
Type S consists of a substrate, a single recording layer and a dummy substrate. The recording layer
can be accessed from one side only. The nominal capacity is 3,0 Gbytes.
Type D consists of two substrates and two recording layers. From each side of the disk only one of
the recording layers can be accessed. The nominal capacity is 6,0 Gbytes.
Data can be written onto the disk as marks in the form of amorphous spots in the crystalline recording layer and
can be overwritten with a focused optical beam, using the phase change effect between amorphous and crystalline
states. The data can be read with a focused optical beam, using the phase change effect as the difference in the
reflectivity between amorphous and crystalline states. The beam accesses the recording layer through a
transparent substrate of the disk.
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ISO/IEC 16969:1999(E)
The disk is specified with two different velocity ranges, CAV and CLV with one velocity range being a subset of the
other. Each disk shall be recordable over the entire range of velocities specified for that disk.
Part of the disk contains read-only data for the drive in the form of pits embossed by the manufacturer. This data
can be read using the diffraction of the optical beam by the embossed pits.
Figure 1 shows schematically the two Types.
Entrance surface
Substrate
Recording layer
Adhesive layer
Type S
Dummy substrate
Entrance surface
Substrate
Recording layer
Type D
Adhesive layer
Recording layer
Substrate
Entrance surface
Figure 1 - Types of 120 mm +RW disks
8 General Requirements
8.1 Environments
8.1.1 Test environment
In the test environment, the air immediately surrounding the disk shall have the following properties:
Temperature : 23 °C ± 2 °C
Relative humidity : 45 % to 55 %
Atmospheric pressure : 60 kPa to 106 kPa
No condensation on the optical disk shall occur. Before testing, the optical disk shall be conditioned in this
environment for 48 h minimum. It is recommended that, before testing, the entrance surface of the optical disk shall
be cleaned according to the instructions of the manufacturer of the disk.
Unless otherwise stated, all tests and measurements shall be made in this test environment.
8.1.2 Operating environment
This International Standard requires that a disk which meets all requirements of this International Standard in the
specified test environment shall provide data interchange over the specified ranges of environmental parameters in
the operating environment.
The operating environment is the environment where the air immediately surrounding the disk has the following
properties:
temperature : 5 °C to 55 °C
relative humidity : 3 % to 85 %
3 3
absolute humidity : 1 g/m to 30 g/m
atmospheric pressure : 60 kPa to 106 kPa
temperature gradient : 10 °C/h max.
relative humidity gradient : 10 %/h max.
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ISO/IEC 16969:1999(E)
No condensation on the optical disk shall occur. If an optical disk has been exposed to conditions outside those
specified in this clause, it shall be acclimatized in an allowed operating environment for at least 2 h before use.
8.1.3 Storage environment
The storage environment is defined as an environment where the air immediately surrounding the disk shall have
the following properties:
temperature : -10 °C to 55 °C
relative humidity : 3 % to 90 %
3 3
absolute humidity : 1 g/m to 30 g/m
atmospheric pressure : 60 kPa to 106 kPa
temperature gradient : 15 °C/h max.
relative humidity gradient : 10 %/h max.
No condensation on the optical disk shall occur.
8.1.4 Transportation
This International Standard does not specify requirements for transportation; guidance is given in annex K.
8.2 Safety requirements
The disk shall satisfy the safety requirements of Standard IEC 60950, when used in the intended manner or in any
foreseeable use in an information processing system.
8.3 Flammability
The disk and its components shall be made from materials that comply with the flammability class for HB materials,
or better, as specified in Standard IEC 60950.
9 Reference Drive
The Reference Drive shall be used for the measurement of optical parameters for conformance with the
requirements of this International Standard. The critical components of this device have the characteristics
specified in this clause.
9.1 Optical system
The basic set-up of the optical system of the Reference Drive used for measuring the (over)write and read
parameters is shown in figure 2. Different components and locations of components are permitted, provided that
the performance remains the same as that of the set-up in figure 2. The optical system shall be such that the
detected light reflected from the entrance surface of the disk is minimized so as not to influence the accuracy of the
measurements.
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ISO/IEC 16969:1999(E)
Figure 2- Optical system of the Reference Drive
The combination of polarizing beam splitter C and a quarter-wave plate D shall separate the entrance optical beam
from a laser diode A and the reflected optical beam from an optical disk F. The beam splitter C shall have a p-s
intensity reflectance ratio of at least 100.
9.2 Optical beam
The focused optical beam used for writing and reading data shall have the following properties:
�10nm
a) Wavelength (�) 650 nm
� 5nm
b) Numerical aperture of the objective lens (NA) 0,60 � 0,01
c) The objective lens shall be compensated for spherical aberrations caused by a parallel substrate with nominal
thickness (0,6 mm) and nominal refractive index (1,55).
d) Wave front aberration 0,033�� rms max.
e) Light intensity at the rim of the pupil of the 30 % to 50 % of the maximum intensity objective lens in
the
radial direction and 40 % to 60 % in the tangential
direction.
f) Polarization Circularly polarized light
g) Read power 1,0 mW � 0,1 mW
h) Write power and pulse width see annex E
i) Relative Intensity Noise (RIN )* of laser diode -134 dB/Hz max.
*RIN (dB/Hz) = 10 log [(a.c. light power density / Hz) / d.c. light power]
9.3 Read channel 1
Read channel 1 shall be provided to generate signals from the marks and spaces in the recording layer. This Read
channel shall be used for reading the embossed information, using the diffraction of the optical beam by the marks,
and be used for reading the user-written information, using the change in reflectivity of the marks and spaces due
to the phase change effect. The read amplifiers after the photo detectors in the Read channel shall have a flat
response within 1 dB from d.c. to 20 MHz.
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ISO/IEC 16969:1999(E)
For measurement of jitter, the characteristics of the PLL and the slicer, etc. are specified in annex C.
9.4 Disk clamping
For measuring, the disk shall be clamped between two concentric rings covering most of the Clamping Zone (see
10.5). The top clamping area shall have the same diameters as the bottom clamping area (figure 3). Clamping
shall occur between
�05, mm
d � 22,3mm
in
�00, mm
and
�00, mm
d � 32,7 mm
out
�05, mm
The total clamping force shall be F =2,0 N ��0,5 N. In order to prevent warping of the disk under the moment of
1
force generated by the clamping force and the chucking force F exerted on the rim of the centre hole of the disk,
2
F shall not exceed 0,5 N (see figure 3).
2
Figure 3 - Clamping and chucking conditions
The tapered cone angle, �, shall be 40,0�� 0,5�.
9.5 Rotation of the disk
The actual rotation speed for reading the disk shall be such that it results in the reference velocity of
4,90 m/s � 0,22 m/s at the nominal Channel bit rate of 27,791 016 Mbit/s. The direction of rotation shall be counter-
clockwise when viewed from the objective lens.
The actual rotation speed for writing the disk shall be such that it includes the minimum and maximum velocities
specified for the disk (see 17.4.1).
9.6 Tracking channel (Read channel 2)
Read channel 2 of the drive provides the tracking error signals to control the servos for radial tracking of the optical
beam. The method of generating the axial tracking error is not specified for the Reference Drive. The radial tracking
error is generated in Read Channel 2 as a signal (I - I ) related to the difference in the amount of light in the two
1 2
halves of the exit pupil of the objective lens.
9.6.1 Normalized servo transfer function
The open-loop transfer function, H (i�) for the axial and radial tracking servos is given by equation (1),
s
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ISO/IEC 16969:1999(E)
3i�
1�
2
1 � �
� �
0 0
H (i�)=Hi()� �� � (1)
� �
s
s
i�
3 � i� �
1�
3�
0
where
i�� 1
�������f
� ������f
0 0
and f is the 0 dB crossover frequency of the open-loop transfer function.
0
The crossover frequencies of the lead-lag network of the servo are
lead break frequency: f = f /3
1 0
lag break frequency: f = f � 3
2 0
9.6.2 Reference Servo for Axial Tracking
The crossover frequency of the normalized servo transfer function (H ) for axial tracking, f = � /(2�) shall be
s 0 0
given by equation (2), where � shall be 1,5 times as large as the maximum expected axial acceleration of 8,0
max
2
m/s . The resulting tracking error e from this � shall be 0,23 �m.
max max
Thus the crossover frequency f shall be given by
0
1 3� 1 381�� ,5
max
f�� =2,0 kHz (2)
0
�6
2��e 2
02, 3�10
max
For an open loop transfer function H of the Reference Servo for axial tracking, �1+H� is limited as schematically
shown by the shaded region of figure 4.
Bandwidth from 100
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