A method and apparatus position a beam spot on a recording medium. The positioning includes (a) observing a first center error in a first closed loop control during tracking mode, the first center error including a repeatable run out (RRO) error, (b) estimating a center error (CE)-RRO from the first center error, the CE-RRO being part of the first center error caused by the RRO, (c) observing a second center error in a second closed loop control during a rough seek, (d) subtracting the CE-RRO from the second center error, (e) controlling the beam spot based on the second center error less the CE-RRO during the rough seek, and (f) adding an open loop control to the second closed loop control during the rough seek, the added open loop control inducing a motion of the lens relative to an optical center of the OPU during the rough seek.