US Patent 7106668 Disk drive apparatus

A disk drive apparatus for a disk having helically-formed or concentric circle-like formed tracks includes a spindle motor for controlling a rotation of the disk; a pick-up device for recording or reproducing information on or from the disk; a stepping motor for moving the pick-up device in a radial direction of the disk in accordance with a drive current; a system controller for tracking a rotation speed of the spindle motor and for outputting command signals according to the rotation speed of the spindle motor; and a stepping motor controller for controlling the stepping motor by changing a slope of a rising part and a falling part of a waveform of the drive current of the stepping motor according to the command signals.