WO2005040945A1 - ステージ装置 - Google Patents
ステージ装置 Download PDFInfo
- Publication number
- WO2005040945A1 WO2005040945A1 PCT/JP2004/015276 JP2004015276W WO2005040945A1 WO 2005040945 A1 WO2005040945 A1 WO 2005040945A1 JP 2004015276 W JP2004015276 W JP 2004015276W WO 2005040945 A1 WO2005040945 A1 WO 2005040945A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- stage device
- moving bodies
- moving
- orthogonality
- origin
- Prior art date
Links
- 230000003287 optical effect Effects 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 10
- 238000012937 correction Methods 0.000 claims description 9
- 230000002706 hydrostatic effect Effects 0.000 description 19
- 238000010586 diagram Methods 0.000 description 7
- 230000000903 blocking effect Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 230000020169 heat generation Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 230000000052 comparative effect Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03F—PHOTOMECHANICAL PRODUCTION OF TEXTURED OR PATTERNED SURFACES, e.g. FOR PRINTING, FOR PROCESSING OF SEMICONDUCTOR DEVICES; MATERIALS THEREFOR; ORIGINALS THEREFOR; APPARATUS SPECIALLY ADAPTED THEREFOR
- G03F7/00—Photomechanical, e.g. photolithographic, production of textured or patterned surfaces, e.g. printing surfaces; Materials therefor, e.g. comprising photoresists; Apparatus specially adapted therefor
- G03F7/70—Microphotolithographic exposure; Apparatus therefor
- G03F7/70691—Handling of masks or workpieces
- G03F7/70716—Stages
- G03F7/70725—Stages control
-
- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/22—Feeding members carrying tools or work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/22—Feeding members carrying tools or work
- B23Q5/34—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03F—PHOTOMECHANICAL PRODUCTION OF TEXTURED OR PATTERNED SURFACES, e.g. FOR PRINTING, FOR PROCESSING OF SEMICONDUCTOR DEVICES; MATERIALS THEREFOR; ORIGINALS THEREFOR; APPARATUS SPECIALLY ADAPTED THEREFOR
- G03F7/00—Photomechanical, e.g. photolithographic, production of textured or patterned surfaces, e.g. printing surfaces; Materials therefor, e.g. comprising photoresists; Apparatus specially adapted therefor
- G03F7/70—Microphotolithographic exposure; Apparatus therefor
- G03F7/70691—Handling of masks or workpieces
- G03F7/70716—Stages
-
- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
-
- 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
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49193—Orthogonality of axis, deviation from 90-degree correction
Definitions
- the present invention relates to a stage device.
- the present invention particularly includes two driving sources that enable each of two moving bodies to move in one axial direction, a guide member that guides at least one of the two moving bodies, and a bridge between the two moving bodies. And a beam moving with the two moving bodies.
- FIGS. 1 (a) and 1 (b) An example of this type of stage device will be described with reference to FIGS. 1 (a) and 1 (b).
- two guide rails 2 and 3 are arranged on a surface plate 1 in parallel with a predetermined interval.
- the guide rails 2 and 3 extend in the Y-axis direction shown in FIG. 1 (a).
- Moving bodies 4 and 5 are arranged on guide rails 2 and 3, respectively.
- the guide rail 2 and the moving body 4 will be described.
- the moving body 4 is provided with a hydrostatic bearing pad 12.
- the hydrostatic bearing pad 12 is interposed between the guide rail 2 and the moving body 4.
- the moving body 4 is also provided with a hydrostatic bearing pad 13.
- the static pressure bearing pad 13 is interposed between the base 1 and the moving body 4. Thereby, the moving body 4 can move in the Y-axis direction along the guide rail 2.
- the moving body 5 is also provided with hydrostatic bearing pads 12 and 13.
- the moving body 5 is movable in the Y-axis direction along the guide rail 3.
- a beam 6 is bridged between the moving body 4 and the moving body 5.
- the beam 6 extends in the X-axis direction shown in FIG.
- One end of the beam 6 is fixed to the moving body 4 and rigid, and the other end is connected to the moving body 5 by a panel structure 8.
- the moving body 4 and one end of the beam 6 are fixed using, for example, screws. Thereby, the beam 6 can move in the Y-axis direction together with the moving bodies 4 and 5.
- a moving body (movable part) 14 is arranged on the beam 6.
- the moving body 14 is movable in the X-axis direction using the beam 6 as a guide.
- Static pressure bearing pads 14a to 14c are arranged between the surface plate 1 and the moving body 14.
- the hydrostatic bearing pads 14a-14c are attached to the moving body 14. Yes.
- the movable body 14 can be guided in the Z-axis direction with respect to the surface plate 1 by the hydrostatic bearing pads 14a to 14c and can move in the X-axis direction.
- the moving body 4 is shown with a part thereof removed, and the moving body 14 is shown with its upper part removed.
- a hydrostatic bearing pad 15 is attached to the lower surface of the center of the beam 6.
- the hydrostatic bearing nod 15 is interposed between the surface plate 1 and the beam 6.
- the beam 6 is supported by the hydrostatic bearing nod 15. That is, the hydrostatic bearing pad 15 supports the weight of the beam 6 while moving with the beam 6 over the entire strokes in the X-axis direction and the Y-axis direction without hindering the movement of the moving body 14, and the beam 6 and the moving body 5
- the beam 6 is supported so that an unreasonable load is not applied to the joints and the like.
- Such a stage device is disclosed, for example, in Japanese Patent Application Laid-Open No. 2000-356693 (hereinafter, referred to as Document 1).
- a linear motor is usually used as a drive source of the moving bodies 4, 5, and 14!
- a linear motor is configured between the guide rail 2 and the beam 6 and between the guide rail 3 and the beam 6 such that the moving bodies 4 and 5 are movable parts, respectively.
- a linear motor is configured between the beam 6 and the moving body 14 so that the moving body 14 becomes a movable part.
- a linear motor configured between the guide rail 2 and the beam 6 will be described as follows.
- a plurality of permanent magnets are arranged at regular intervals along guide rail 2.
- a plurality of permanent magnets are arranged such that different magnetic poles face each other with a gap between the plurality of permanent magnets.
- the movable coil connected to the moving body 4 is disposed on the gear so as to be movable together with the moving body 4.
- each linear motor is provided with a position sensor based on a combination of a linear scale and a linear sensor in order to control the position of the moving bodies 4, 5, and 14. . Then, synchronous control is performed on the linear motors for the moving bodies 4 and 5.
- a stage device is disclosed, for example, in Japanese Patent Application Laid-Open No. 2000-155186 (hereinafter, referred to as Document 2).
- a table for mounting a workpiece or the like is mounted on the moving body 14, and drive control is performed to position the workpiece with high precision.
- the beam 6 needs to be orthogonal to the guide rails 2 and 3 in order to position the workpiece with high accuracy. This is because the positioning of the workpiece is specified using the X and Y coordinates on the surface plate 1.
- the orthogonality according to the machine accuracy when the beam 6 is at a certain reference position (reference coordinates), for example, at the origin position set near one end of the guides 2 and 3, is determined. It is the standard.
- the position of each of the mobile units 4 and 5 is controlled individually so that the orthogonality equivalent to the above machine accuracy is maintained within a predetermined range. ing.
- each member, in particular, the beam 6 and its peripheral members may be deformed by the heat generation of the linear motor.
- the orthogonality of the beam 6 with respect to the guide rails 2 and 3 may deviate from the force in the above-described predetermined range.
- a temperature rise occurs in each member of the stage device due to heat generation.
- the orthogonality of the beam 6 changes, the orthogonality of the beam 6 with respect to the guide rails 2 and 3 cannot be maintained within a predetermined range, and there has been a problem that high-precision positioning cannot be performed.
- an object of the present invention is to provide a stage device having a function of maintaining the orthogonality of a beam with respect to a guide rail within a set predetermined range even when continuous operation is performed.
- a stage device provides a surface plate, two driving sources for moving two moving bodies in one axis direction on the surface plate, and at least one of the two moving bodies in one axis direction. It includes a guide member for guiding, and a beam that is bridged between the two moving bodies so as to be orthogonal to the guide member and moves together with the two moving bodies.
- the stage device further includes two position sensors for detecting respective positions of the two moving objects, and an origin position of each of the two moving objects. Detection signals from two origin sensors, two position sensors, and two origin sensors And a control device for controlling the position of the two moving bodies by controlling the two driving sources.
- the control device has a Y-axis rotation control function of individually controlling the two drive sources to rotate the beam about a single Y-axis and a vertical Y-axis.
- the control device also maintains the orthogonality of the beam with respect to the guide member within a predetermined range even when the orthogonality of the beam with respect to the guide member changes based on the Yaw axis rotation control function when the stage device is activated. Execute control.
- the control device has a storage device having a built-in bow-axis rotation control program for executing the bow-axis rotation control function.
- the storage device stores initial value data of the Yaw-axis rotation control program as a target value.
- the target value is determined by the control device based on the orthogonality of the beam measured with the stage device stopped, and is a correction value Ay1 required to make the beam orthogonality within a predetermined range.
- the X-axis rotation control program drives the two moving bodies to the positions detected by the two origin sensors with the beam orthogonality changed when the stage device is started, and at that time, the two position sensors use the two position sensors. Calculating the difference Ay3 between the two obtained coordinate data, and rotating the beam about the rotation axis by ( ⁇ y1 ⁇ y3) using the correction value ⁇ y1 and the difference ⁇ y3. Is to execute.
- the control device is configured to control two coordinate data obtained by the two position sensors when the moving body is moved to a position detected by the two origin sensors while the stage device is left as it is.
- the difference AyO is calculated and stored in the storage device.
- the controller also determines the correction value ⁇ yl based on the calculated difference ⁇ yO.
- the stage device includes two guide members extending in one axial direction in parallel with each other in order to guide the two movable bodies in one axial direction, and the beam has one end fixed to one of the two movable bodies. It is preferable that the other end is connected to the other of the two moving bodies via a panel structure.
- FIG. 1 (a) is a plan view for explaining an example of a conventional stage device.
- FIG. 1 (b) is a front view for explaining an example of a conventional stage device.
- FIG. 2 (a) is a plan view for explaining a stage device according to the present invention.
- FIG. 2 (b) is a front view for explaining the stage device according to the present invention.
- FIG. 3 is a diagram for explaining an example of a control system of the stage device according to the present invention.
- Fig. 4 is a diagram for explaining an operation performed in the present invention for adjusting the orthogonality between the beam and the guide rail.
- FIG. 5 is a diagram for explaining an operation performed when mechanical reset is performed after continuous operation of the stage device in the present invention.
- FIG. 6 is a diagram for explaining work executed following the work of FIG. 5 in the present invention.
- FIG. 7 is a diagram for explaining the accuracy of orthogonality when an optical sensor is used as an origin sensor used in the present invention.
- FIG. 8 is a diagram for explaining the accuracy of orthogonality when a magnetic sensor is used as the origin sensor used in the present invention.
- the gist of the present invention is that the orthogonality of a beam with respect to a guide rail can be maintained within a set predetermined range even when the stage device is continuously operated and then started again. Therefore, the present invention provides a surface plate, two driving sources that enable each of the two moving bodies to move in one axial direction, a guide member that guides at least one of the two moving bodies, and between the two moving bodies.
- the present invention is applicable to a stage device including a beam that is bridged and moves with two moving objects.
- the present invention is also applicable to a stage device having a configuration in which two moving bodies are guided by two guide members extending in a uniaxial direction in parallel with each other. In other words, the present invention can be applied to the stage device described in FIGS.
- the deformation of the beam that is a problem with respect to the orthogonality is the amount of deformation in a plane parallel to the upper surface of the surface plate.
- FIG. 2 (a) and FIG. 2 (b) show a stage device according to an embodiment of the present invention.
- This stage device has the same configuration as the stage device described with reference to FIGS. 1 (a) and 1 (b), except for a control device and an origin sensor described later. Therefore, the same components as those shown in FIGS. 1A and 1B are denoted by the same reference numerals, and the configuration of the stage device will be briefly described.
- FIG. 2 (a) and FIG. 2 (b) two guide rails 2 and 3 are arranged on a surface plate 1 in parallel with each other at a predetermined interval.
- Guide rails 2 and 3 extend in the Y-axis direction.
- Moving bodies 4 and 5 are arranged on guide rails 2 and 3, respectively.
- the moving body 4 is provided with a hydrostatic bearing pad 12.
- the hydrostatic bearing pad 12 is interposed between the guide rail 2 and the moving body 4.
- the moving body 4 is also provided with a hydrostatic bearing pad 13.
- the hydrostatic bearing pad 13 is interposed between the platen 1 and the moving body 4.
- the moving body 5 is also provided with hydrostatic bearing pads 12 and 13.
- the moving body 5 is movable in the Y-axis direction along the guide rail 3.
- a beam 6 is bridged between the moving body 4 and the moving body 5.
- Beam 6 extends in the X-axis direction.
- One end of the beam 6 is fixed to the moving body 4 and rigid, and the other end is connected to the moving body 5 by a panel structure 8.
- the one end of the moving body 4 and the beam 6 are fixed using, for example, screws. Thereby, the beam 6 can move in the Y-axis direction together with the moving bodies 4 and 5.
- a moving body (movable part) 14 is arranged on the beam 6.
- the moving body 14 is movable in the X-axis direction using the beam 6 as a guide.
- Static pressure bearing pads 14a to 14c are arranged between the surface plate 1 and the moving body 14.
- the hydrostatic bearing pads 14a-14c are attached to the moving body 14. Thereby, the moving body 14 can move in the X-axis direction.
- a hydrostatic bearing pad 15 is attached to the lower surface of the center of the beam 6.
- the hydrostatic bearing nod 15 is interposed between the surface plate 1 and the beam 6. Thereby, the beam 6 is supported by the hydrostatic bearing nod 15.
- Linear motors are used as the driving sources of the moving bodies 4, 5, and 14.
- Guidele A linear motor is configured between the rail 2 and the beam 6 and between the guide rail 3 and the beam 6 so that the moving bodies 4 and 5 become movable parts, respectively.
- a linear motor is configured between the beam 6 and the moving body 14 such that the moving body 14 is a movable part.
- each linear motor is provided with a position sensor based on a combination of a linear scale and a linear sensor.
- Each linear motor can be individually controlled by a control device described later.
- a table for mounting a workpiece or the like is mounted on the moving body 14, and drive control for positioning the workpiece with high accuracy is executed.
- a position detection signal indicating a position detection value is fed back to the control device 20 from the position sensor 21 on the moving body 4 side and the position sensor 22 on the moving body 5 side.
- the position sensors 21 and 22 for example, as described above, a combination of a linear scale and a linear sensor is used.
- a Y1 drive 23 for driving the linear motor on the moving body 4 side and a Y2 drive 24 for driving the linear motor on the moving body 5 side are connected to the control device 20.
- the control device 20 uses the position detection values from the position sensors 21 and 22 as feed knock values, and controls the Y1 drive 23 and the Y2 drive 24 based on the deviation from the position command value to control the Perform position control of 5.
- the control device 20 can control the rotation of the beam 6 in the X-axis.
- the shaft rotation control is a control for enabling the beam 6 to rotate by a small angle with respect to its central axis.
- the central axis of the beam 6 means the central axis in the X-axis or the Z-axis direction perpendicular to the upper surface of the surface plate 1. In the following, this central axis is referred to as the central axis, and rotation about this central axis is referred to as central axis rotation.
- the distance between two linear scales in two linear motors shall be constant over the entire length.
- FIG. 3 merely shows the basic configuration of the control system of the stage device according to the present invention, for the sake of simplicity.
- the control system of the stage device according to the present invention is not limited to the one shown in FIG.
- a position detection signal from a position sensor (not shown) on the moving body 14 side is also fed back to the control device 20.
- the control device 20 calculates the command value for the moving body 14 and the position detection value of the position sensor
- the position of the mobile unit 14 is controlled by controlling the drive (not shown) for the mobile unit 14 based on the deviation between the two.
- the linear motor on the moving body 4 side is a Y1 linear motor
- the linear scale provided on the moving body 4 side is a Y1 scale
- the linear motor on the moving body 5 side is a Y2 linear motor
- the linear motor is provided there.
- the scale is called the Y2 scale.
- the origin positions of the moving bodies 4 and 5 are set and detected on the surface plate 1 near one end of the guide rails 2 and 3, respectively.
- Origin sensors OSl and OS2 are provided.
- the detection signals from the origin sensors OSl and OS2 are also input to the control device 20, and the beam 6 (moving bodies 4 and 5) is stopped at the position detected by the origin sensors OSl and OS2.
- the origin sensors OSl and OS2 detect that a part of the moving bodies 4 and 5 have reached there, and use optical or magnetic sensors as described later.
- optical sensors provide higher detection accuracy than optical sensors.
- blocking members S Sl and SS2 for blocking the optical path in the origin sensors OSl and OS2 are provided on the moving bodies 4 and 5, respectively.
- the arrangement relationship can be considered to be the same except that the detected member is detected magnetically. That is, the detected members are installed as SS1 and SS2.
- FIG. 4 is a diagram for explaining an operation for adjusting the orthogonality, which is performed before shipping the stage device to which the present invention is applied. That is, before the stage device is shipped, an operation for acquiring data in an initial state is performed. Of course, this operation is performed using the control device 20 provided in the stage device.
- the position of the moving body 4 on the Y1 linear motor side is detected on the Y1 scale
- the position of the moving body 5 on the Y2 linear motor side is detected on the Y2 scale.
- the position of the beam 6 in the beam 6 is represented by the Y-axis translation coordinate.
- the value of the Y-axis translation coordinate is the average value (yl + y2) / 2 of the coordinate data yl based on the Y1 scale and the coordinate data y2 based on the Y2 scale.
- the Y1 linear motor and Y2 linear motor are started with the accuracy of the stage device as it is (before the beam 6 is mechanically orthogonal to the guide rails 2 and 3), and the beam 6 (moving bodies 4 and 5) is started.
- Y reaches the position detected by the origin sensors OSl and OS2
- This parameter AyO includes the installation error of the origin sensors OSl and OS2.
- the installation error is an error component due to the fact that the line connecting the origin sensors OSl and OS2 is not necessarily orthogonal to the guide rails 2 and 3. Therefore, in this preparation work, it means that geometrical position data of the origin position is obtained.
- the orthogonality is measured using a right angle prototype. According to the measured orthogonality, the value to be reduced by AyO is calculated, and the value of parameter AyO is corrected. Then, the corrected value is determined as the correction parameter Ay1.
- the correction parameter Ayl is a reference value (target value) for adjusting the orthogonality in the item (3) described below. At this time, the orthogonality is set to fall within the accuracy range of [(error of right angle prototype and measurement accuracy) ⁇ 0.2 degrees], taking into account the error of measurement accuracy with the right angle prototype.
- the accuracy evaluation of the orthogonality shall be performed by an angle since the distance between the Y1 scale and the Y2 scale is constant.
- the above parameter Ayl will be used as initial value data hereinafter.
- the control device 20 performs the Yaw axis rotation control operation described below.
- the storage device 20-1 of the control device 20 has previously stored therein a program for the Yaw axis rotation control operation.
- the control is temporarily started in a state where the orthogonality changes due to heat generation or the like.
- the Y1 linear motor and Y2 linear motor are started, and the coordinate data of the origin of the Y1 scale and Y2 scale when the beam 6 (moving objects 4 and 5) reaches the position detected by the origin sensors OS1 and OS2.
- Data yl3 and y23 are calculated by the control device 20.
- the reference value (target value) necessary for adjusting the orthogonality by the X-axis rotation control is the correction parameter Ay 1 determined in 1-b of the above item (1).
- the difference (Ayl ⁇ Ay3) is a deviation in the rotation direction (Y-axis rotation direction) from the state where the orthogonality is matched, the difference (Ayl ⁇ Ay3)
- the beam 6 is rotated around the axis by the value.
- the rotation direction is the direction in which the deviation of the orthogonality is corrected.
- the allowable limit value of the rotation angle in the Yaw axis rotation control is set to 11 seconds. This value assumes that the required thrust is 10% of the rated thrust of the linear motor when the beam 6 is rotated for 11 seconds.
- step (2) Execute the above step (2) again, and find the difference Ay4 of the origin after the mechanical reset (startup).
- Ay4 yl4-y24.
- yl4 and y24 are coordinate data of the origin of the Y1 scale and the Y2 scale when the beam 6 (the moving objects 4 and 5) reaches the positions detected by the origin sensors OSl and OS2, respectively.
- the beam 6 is automatically returned to a predetermined position (for example, the center of the guide rails 2 and 3).
- the predetermined position is a known value
- an origin search operation in which the beam 6 returns to the position detected by the predetermined position force origin sensors OS 1 and OS 2 is started.
- the origin sensor Positional force detected by OSl and OS2 The beam 6 is moved at a high speed to a position before a predetermined distance, and then moved at a very low speed until it reaches the position detected by the origin sensors OSl and OS2.
- the accuracy of reaching the origin sensors OSl and OS2 is increased, and the accuracy of coordinate data from which the Y1 scale and Y2 scale forces are also obtained is increased.
- the accuracy of the original origin that is, the accuracy of the orthogonality of the beam 6 depends on the measurement accuracy of the origin sensor and the line connecting the two origin sensors is orthogonal to the guide member.
- ⁇ ⁇ ⁇ It is determined by the variation of the relative position.
- the repetition position repeatability of the optical sensor is assumed to be 1 ⁇ m, and the displacement of the beam 6 due to the reading time delay by the linear scale after the operation of the optical sensor is assumed to be ⁇ 1 m.
- the origin accuracy has a total variation of ⁇ 3 m.
- the variation of ⁇ 3 m is tan- 1 (3 ⁇ m / 1080 mm) when converted to an angle, assuming that the extension length of beam 6 is 1080 mm, which is approximately ⁇ 0.57 seconds. Although this slightly exceeds the orthogonality of ⁇ 0.5 seconds within the above-mentioned predetermined range, it is a value that is almost satisfactory.
- the repeatability repeatability of the magnetic sensor is ⁇ 0.1 ⁇ m, and the displacement of the beam 6 due to the delay in reading time by the linear scale after the operation of the magnetic sensor is ⁇ 1 m.
- the origin accuracy has a total variation of ⁇ 1.2 / zm. If the extension length of the beam 6 is 1080 mm, the variation of ⁇ 1.2 / zm is tan- 1 (1.2 / z mZl080 mm) when converted to an angle, which is approximately ⁇ 0.23 seconds. This is far below the orthogonality of ⁇ 0.5 seconds within the above-mentioned predetermined range.
- optical sensors there are provided sensors that change the detection position by 20 m when the temperature changes from 25 ° C to 55 ° C, that is, when the temperature rises by 30 ° C. In this case, it is 0.67 mZ C. However, if the temperature change of the two optical sensors is the same, the above change is negligible. If the temperature change of the two optical sensors is 1 ° C If there is a difference, it is tan- ⁇ O. 67 mZl080mm), which is about ⁇ 0.12 seconds.
- the magnetic sensor a sensor having a temperature drift of 0.1 ⁇ mZC is provided. If such a magnetic sensor is used, tan— ⁇ O. 1 m / 1080 mm), which is about ⁇ 0.02 micron.
- the origin sensors OSl and OS2 and the blocking member or the detected members S Sl and SS2 are installed at positions slightly apart from the inner surfaces of the guide members 2 and 3. I am trying to do it. However, these installation positions are desirably outside the guide members 2 and 3. This is because the larger the distance to the tip of the beam 6 where the blocking member or the detected members SS1 and SS2 is installed, the higher the resolution with respect to the angle, in other words, the higher the resolution with respect to the amount of deformation of the beam 6.
- the present invention has been described with reference to preferred embodiments, the present invention is not limited to the above embodiments.
- the two moving bodies 4 and 5 connected by the beam 6 are guided by the two guide members 2 and 3 extending in the uniaxial direction, and another moving body 14 is installed on the beam 6.
- the present invention is also applicable to a stage device having no other moving body 14 and having two moving bodies connected by beams guided by two guide members extending in one axial direction. In this case, the table for mounting the workpiece is combined with the beam 6.
- the present invention also provides a stage device having two drive sources that enable each of two moving bodies to slide in a single axial direction on a surface plate, and guiding only one of the two moving bodies by a guide member extending in a single axial direction. It is also applicable to Of course, a beam is bridged between the two moving bodies so as to be orthogonal to the guide member, and can be moved together with the two moving bodies.
- the orthogonality of the beam with respect to the guide member is always maintained within a predetermined range even if the beam or the like is deformed due to a temperature rise due to the continuous operation. Can be.
- the workpiece mounted on the table on the beam can be positioned with high accuracy.
- the stage device according to the present invention is generally applicable to a stage device capable of driving a table on which a workpiece is mounted at least in the X-axis direction and the X-axis direction, and in some cases, the Z-axis direction. Applicable.
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- Manufacturing & Machinery (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Control Of Position Or Direction (AREA)
- Exposure And Positioning Against Photoresist Photosensitive Materials (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
- Machine Tool Sensing Apparatuses (AREA)
- Machine Tool Units (AREA)
- Numerical Control (AREA)
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN2004800310708A CN1871562B (zh) | 2003-10-23 | 2004-10-15 | 载物台装置 |
US10/576,922 US7743998B2 (en) | 2003-10-23 | 2004-10-15 | Stage device |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003-363581 | 2003-10-23 | ||
JP2003363581A JP4443891B2 (ja) | 2003-10-23 | 2003-10-23 | ステージ装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2005040945A1 true WO2005040945A1 (ja) | 2005-05-06 |
Family
ID=34510056
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2004/015276 WO2005040945A1 (ja) | 2003-10-23 | 2004-10-15 | ステージ装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US7743998B2 (ja) |
JP (1) | JP4443891B2 (ja) |
KR (1) | KR20060097043A (ja) |
CN (1) | CN1871562B (ja) |
TW (1) | TW200526351A (ja) |
WO (1) | WO2005040945A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102990372A (zh) * | 2012-12-04 | 2013-03-27 | 齐重数控装备股份有限公司 | 数控重型立式铣车床工作台 |
TWI501058B (zh) * | 2008-12-12 | 2015-09-21 | Seneca Merger Sub Inc | 用以改善站台移動時間之方法、系統及設備 |
TWI574135B (zh) * | 2011-07-27 | 2017-03-11 | Citizen Watch Co Ltd | Working machine control device |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006287098A (ja) * | 2005-04-04 | 2006-10-19 | Nsk Ltd | 位置決め装置 |
US8109395B2 (en) * | 2006-01-24 | 2012-02-07 | Asm Technology Singapore Pte Ltd | Gantry positioning system |
JP4402078B2 (ja) * | 2006-06-19 | 2010-01-20 | 住友重機械工業株式会社 | ステージ装置 |
US8116909B2 (en) * | 2008-01-02 | 2012-02-14 | Cyberoptics Corporation | Gantry position tracking using redundant position sensors |
JP5252999B2 (ja) * | 2008-06-02 | 2013-07-31 | 三菱電機株式会社 | 数値制御装置および位置ずれ補正方法 |
JP5026455B2 (ja) * | 2009-03-18 | 2012-09-12 | 住友重機械工業株式会社 | Xyステージ装置、半導体検査装置、及び半導体露光装置 |
JP5436073B2 (ja) * | 2009-07-06 | 2014-03-05 | 三菱電機株式会社 | 位置決め制御装置及び位置決め制御方法 |
CN101666859B (zh) * | 2009-10-13 | 2012-05-30 | 上海理工大学 | 一种双直线电机驱动进给机构 |
DE112010005896T5 (de) * | 2010-09-22 | 2013-07-25 | Mitsubishi Electric Corporation | Ursprungseinstellverfahren und dasselbe verwendende Vorrichtung |
CN103075970B (zh) * | 2012-12-27 | 2015-07-01 | 深圳市华星光电技术有限公司 | 测长装置直交度补偿方法及使用该方法的测长装置 |
US9080865B2 (en) * | 2012-12-27 | 2015-07-14 | Shenzhen China Star Optoelectronics Technology Co., Ltd | Orthogonality compensation method for length measurement device and length measurement device using same |
JP6323069B2 (ja) * | 2014-03-03 | 2018-05-16 | 日本精工株式会社 | テーブル装置、測定装置、及び工作機械 |
JP6761279B2 (ja) * | 2016-05-16 | 2020-09-23 | キヤノン株式会社 | 位置決め装置、リソグラフィー装置および物品製造方法 |
US11110633B2 (en) * | 2018-06-13 | 2021-09-07 | Nypromold Inc. | In-mold lid closing apparatus |
KR102516372B1 (ko) * | 2021-01-20 | 2023-03-31 | (주)에스티아이 | 케미컬 자동공급장치의 수커넥터 거치부 |
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JP2000029530A (ja) * | 1998-07-08 | 2000-01-28 | Canon Inc | ステージ装置、およびこれを用いた露光装置ならびにデバイス製造方法 |
JP2003025178A (ja) * | 2001-07-11 | 2003-01-29 | Yaskawa Electric Corp | 同期制御装置 |
JP2004009176A (ja) * | 2002-06-05 | 2004-01-15 | Yaskawa Electric Corp | バランス調整装置 |
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US3857075A (en) * | 1971-07-19 | 1974-12-24 | B Sawyer | Positioning device |
JPS61117034A (ja) | 1984-11-09 | 1986-06-04 | Hitachi Ltd | Xyテ−ブルのヨ−イング補正方式 |
JPH02149869A (ja) * | 1988-11-30 | 1990-06-08 | Sharp Corp | 複写機の直線駆動装置 |
US5539532A (en) * | 1993-08-12 | 1996-07-23 | Nec Corporation | Image reading apparatus with varied subscanning speed |
JP3834433B2 (ja) | 1998-08-25 | 2006-10-18 | 横河電機株式会社 | Xyステージ |
JP3438131B2 (ja) | 1998-11-24 | 2003-08-18 | 住友重機械工業株式会社 | X−yステージ装置 |
JP3458227B2 (ja) | 1999-06-14 | 2003-10-20 | 住友重機械工業株式会社 | ステージ機構 |
JP3312297B2 (ja) | 1999-07-02 | 2002-08-05 | 住友重機械工業株式会社 | ステージ位置制御装置 |
-
2003
- 2003-10-23 JP JP2003363581A patent/JP4443891B2/ja not_active Expired - Lifetime
-
2004
- 2004-09-01 TW TW093126374A patent/TW200526351A/zh not_active IP Right Cessation
- 2004-10-15 KR KR1020067009974A patent/KR20060097043A/ko active Search and Examination
- 2004-10-15 CN CN2004800310708A patent/CN1871562B/zh not_active Expired - Fee Related
- 2004-10-15 US US10/576,922 patent/US7743998B2/en active Active
- 2004-10-15 WO PCT/JP2004/015276 patent/WO2005040945A1/ja active Application Filing
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2000029530A (ja) * | 1998-07-08 | 2000-01-28 | Canon Inc | ステージ装置、およびこれを用いた露光装置ならびにデバイス製造方法 |
JP2003025178A (ja) * | 2001-07-11 | 2003-01-29 | Yaskawa Electric Corp | 同期制御装置 |
JP2004009176A (ja) * | 2002-06-05 | 2004-01-15 | Yaskawa Electric Corp | バランス調整装置 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
TWI501058B (zh) * | 2008-12-12 | 2015-09-21 | Seneca Merger Sub Inc | 用以改善站台移動時間之方法、系統及設備 |
TWI574135B (zh) * | 2011-07-27 | 2017-03-11 | Citizen Watch Co Ltd | Working machine control device |
CN102990372A (zh) * | 2012-12-04 | 2013-03-27 | 齐重数控装备股份有限公司 | 数控重型立式铣车床工作台 |
Also Published As
Publication number | Publication date |
---|---|
US7743998B2 (en) | 2010-06-29 |
CN1871562A (zh) | 2006-11-29 |
US20070158401A1 (en) | 2007-07-12 |
JP4443891B2 (ja) | 2010-03-31 |
TW200526351A (en) | 2005-08-16 |
KR20060097043A (ko) | 2006-09-13 |
JP2005128783A (ja) | 2005-05-19 |
TWI327942B (ja) | 2010-08-01 |
CN1871562B (zh) | 2010-12-08 |
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