A servo system for a hard disk drive comprising a first actuator, a second actuator, a head, and a disk on which is formed a plurality of tracks containing servo data. The servo system comprises a first stimulus, a second stimulus, and a calibration system. The first stimulus causes the first actuator to move the head to at least two calibration tracks on the disk. The second stimulus causes the second actuator to move the head relative to the at least two calibration tracks. The calibration system generates a calibration factor based on the second calibration signal and the movement of the second actuator relative to each of the at least two calibration tracks.