JP7365924B2 - ティーチング方法 - Google Patents
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- JP7365924B2 JP7365924B2 JP2020022426A JP2020022426A JP7365924B2 JP 7365924 B2 JP7365924 B2 JP 7365924B2 JP 2020022426 A JP2020022426 A JP 2020022426A JP 2020022426 A JP2020022426 A JP 2020022426A JP 7365924 B2 JP7365924 B2 JP 7365924B2
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- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67739—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations into and out of processing chamber
- H01L21/67742—Mechanical parts of transfer devices
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- H—ELECTRICITY
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- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67739—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations into and out of processing chamber
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- H—ELECTRICITY
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- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/68—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for positioning, orientation or alignment
- H01L21/682—Mask-wafer alignment
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36414—Compare image detected path with stored reference, difference corrects position
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45032—Wafer manufacture; interlock, load-lock module
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67739—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations into and out of processing chamber
- H01L21/67751—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations into and out of processing chamber vertical transfer of a single workpiece
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Description
図1は、本開示の一実施形態における基板処理システムの一例を示す横断平面図である。図1に示す基板処理システム1は、枚葉でウエハ(例えば、半導体ウエハ。)にプラズマ処理等の各種処理を施すことが可能な基板処理システムである。
図2は、本実施形態における検査用ウエハの一例を示す図である。図2に示すように、検査用ウエハ100は、ベースウエハ101と、複数(例えば3つ)のカメラ102とを有する。ベースウエハ101は、製品用ウエハと同一サイズのウエハであることが好ましい。ベースウエハ101として製品用ウエハと同一サイズのウエハを用いることで、複数のモジュールの間で検査用ウエハ100を製品用ウエハと同様に搬送できる。具体的には、例えば直径が300mmの製品用ウエハを用いる場合、ベースウエハ101として直径が300mmのウエハを用いることが好ましい。
次に、本実施形態の基板処理システム1の動作について説明する。図3は、本実施形態におけるティーチング処理の一例を示すフローチャートである。なお、以下の説明において、基板処理システム1の各構成要素の動作は、制御装置50によって制御される。
上記の実施形態では、製品用のウエハWを用いてティーチングを行ったが、ティーチング専用のウエハを用いてもよい。例えば、プロセスモジュールのステージには、中心位置に穴を有するタイプがある。この場合、ウエハの中心に穴を開けたティーチング用ウエハを用いることで、穴同士のズレ量を検出することで、ウエハWと目標位置とのズレ量を検出できる。
上記の実施形態では、製品用のウエハWの搬送位置についてティーチングを行ったが、例えばエッジリングのように搬送機構による搬送が可能で、交換が必要なパーツ等を搬送する場合の搬送位置についてもティーチングを行ってもよい。図9は、変形例2における目標位置の直下に検査用ウエハを搬送した状態の一例を示す図である。図9は、エッジリング120をプロセスモジュール20内に搬送した後にリフト機構121を用いてシャワーヘッド122側に持ち上げ、検査用ウエハ130を載置したフォーク13をプロセスモジュール20内に搬送した状態である。この場合、エッジリング120は、リフト機構121によりステージ21から垂直に持ち上げられるものとする。つまり、エッジリング120は、リフト機構121に載置された状態であるといえ、この状態におけるシャワーヘッド122側に持ち上げられた位置を、エッジリング120の目標位置としている。すなわち、目標位置は、例えばエッジリング120の中心位置がシャワーヘッド122の中心位置と一致する位置を用いることができる。
10 トランスファモジュール
11 搬送機構
12 アーム
13 フォーク
20 プロセスモジュール
21 ステージ
22 リフトピン
40 ロードロックモジュール
41 ステージ
42 リフトピン
50 制御装置
100,130 検査用ウエハ
101,131 ベースウエハ
102,132 カメラ
120 エッジリング
121 リフト機構
122 シャワーヘッド
W ウエハ
Claims (7)
- 搬送機構のティーチング方法であって、
a)前記搬送機構のフォーク上に第1の基板またはエッジリングを載置し、前記第1の基板または前記エッジリングを目標位置まで搬送し、前記第1の基板または前記エッジリングを前記目標位置に載置する工程と、
b)前記フォーク上に位置検出センサを有する第2の基板を載置し、前記第2の基板を前記目標位置の直上または直下まで搬送する工程と、
c)前記第2の基板の前記位置検出センサを用いて、前記第1の基板または前記エッジリングと、前記目標位置とのズレ量を検出する工程と、
d)検出した前記ズレ量に基づいて、次に搬送する前記第1の基板または前記エッジリングにおける前記搬送機構の搬送位置データを補正する工程と、
e)前記ズレ量が許容範囲に収まった際の前記搬送位置データを確定データとして確定させる工程と、
f)前記確定データに基づいて、前記a)から前記c)までを繰り返し、前記ズレ量の分散値を取得する工程と、
g)取得した前記分散値に基づいて、前記確定データを更新する工程と、
を有するティーチング方法。 - h)前記ズレ量が許容範囲に収まるまで、前記a)から前記d)までを繰り返す工程、
を有する請求項1に記載のティーチング方法。 - 前記c)は、前記第1の基板または前記エッジリングと、前記第1の基板を載置する載置台または前記エッジリングに対向するシャワーヘッドとの周縁部で、前記ズレ量を検出する、
請求項1または2に記載のティーチング方法。 - 前記第1の基板は、第1の印を有し、
前記c)は、前記第1の基板の前記第1の印と、前記第1の基板を載置する載置台の第2の印とに基づいて、前記ズレ量を検出する、
請求項1または2に記載のティーチング方法。 - 前記第1の印および前記第2の印は、前記第1の基板および前記載置台の中心に設けられた穴である、
請求項4に記載のティーチング方法。 - 前記第1の印および前記第2の印は、前記第1の基板および前記載置台の周縁部に設けられた、位置決め用のノッチおよび前記第1の基板の載置位置を規定する土手である、
請求項4に記載のティーチング方法。 - 前記位置検出センサは、カメラであり、
前記c)は、前記カメラで撮像した画像に基づいて、前記ズレ量を検出する、
請求項1~6のいずれか1つに記載のティーチング方法。
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JP2020022426A JP7365924B2 (ja) | 2020-02-13 | 2020-02-13 | ティーチング方法 |
KR1020210013884A KR102471809B1 (ko) | 2020-02-13 | 2021-02-01 | 티칭 방법 |
CN202110162764.0A CN113257729A (zh) | 2020-02-13 | 2021-02-05 | 示教方法 |
US17/173,781 US20210252695A1 (en) | 2020-02-13 | 2021-02-11 | Teaching method |
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JP7246256B2 (ja) * | 2019-05-29 | 2023-03-27 | 東京エレクトロン株式会社 | 搬送方法及び搬送システム |
WO2024047835A1 (ja) * | 2022-09-01 | 2024-03-07 | 三菱電機株式会社 | データ収集分析システム、測定データ収集ユニット、および、データ収集分析方法 |
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