WO2015162092A1 - Vorrichtung und verfahren zur regelung der positionierung einer vielzahl von verstellbaren spiegel-elementen einer vielspiegel-anordnung - Google Patents
Vorrichtung und verfahren zur regelung der positionierung einer vielzahl von verstellbaren spiegel-elementen einer vielspiegel-anordnung Download PDFInfo
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- WO2015162092A1 WO2015162092A1 PCT/EP2015/058516 EP2015058516W WO2015162092A1 WO 2015162092 A1 WO2015162092 A1 WO 2015162092A1 EP 2015058516 W EP2015058516 W EP 2015058516W WO 2015162092 A1 WO2015162092 A1 WO 2015162092A1
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- Prior art keywords
- mirror
- mirror elements
- data
- control
- data channel
- Prior art date
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Classifications
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/18—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors
- G02B7/182—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors
- G02B7/1822—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors comprising means for aligning the optical axis
- G02B7/1827—Motorised alignment
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B17/00—Systems with reflecting surfaces, with or without refracting elements
- G02B17/008—Systems specially adapted to form image relays or chained systems
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
- G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
- G02B26/0816—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light by means of one or more reflecting elements
- G02B26/0833—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light by means of one or more reflecting elements the reflecting element being a micromechanical device, e.g. a MEMS mirror, DMD
- G02B26/0841—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light by means of one or more reflecting elements the reflecting element being a micromechanical device, e.g. a MEMS mirror, DMD the reflecting element being moved or deformed by electrostatic means
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- 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
- G03F7/70058—Mask illumination systems
- G03F7/70075—Homogenization of illumination intensity in the mask plane by using an integrator, e.g. fly's eye lens, facet mirror or glass rod, by using a diffusing optical element or by beam deflection
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- 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
- G03F7/70058—Mask illumination systems
- G03F7/70091—Illumination settings, i.e. intensity distribution in the pupil plane or angular distribution in the field plane; On-axis or off-axis settings, e.g. annular, dipole or quadrupole settings; Partial coherence control, i.e. sigma or numerical aperture [NA]
- G03F7/70116—Off-axis setting using a programmable means, e.g. liquid crystal display [LCD], digital micromirror device [DMD] or pupil facets
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- 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
- G03F7/70058—Mask illumination systems
- G03F7/702—Reflective illumination, i.e. reflective optical elements other than folding mirrors, e.g. extreme ultraviolet [EUV] illumination systems
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- 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
- G03F7/708—Construction of apparatus, e.g. environment aspects, hygiene aspects or materials
- G03F7/7085—Detection arrangement, e.g. detectors of apparatus alignment possibly mounted on wafers, exposure dose, photo-cleaning flux, stray light, thermal load
Definitions
- the invention relates to a device and a method for controlling the positioning of a plurality of adjustable mirror elements of a multi-mirror arrangement.
- the invention also relates to an optical component having such a device and a multi-mirror arrangement.
- the invention relates to an illumination optical system and a lighting system for a projection exposure apparatus with at least one such component as well as to a projection exposure apparatus with a corresponding illumination optical unit.
- the invention relates to a method for producing a micro- or nanostructured device and such a device.
- a multi-mirror arrangement with adjustable mirror elements with a device for displacing them is known, for example, from WO 2013/120926 A1.
- An object of the invention is to improve a device for controlling the positioning of a plurality of adjustable mirror elements of a multi-mirror arrangement. This object is achieved by a device having a control device designed separately from the multi-mirror arrangement and having at least one first data channel with a bandwidth of at least 1 kHz in a data-transmitting manner with the control unit
- the data channel has a bandwidth which allows a control bandwidth of at least 1 kHz.
- the bandwidth of a data channel is understood to be the upper limit frequency of the same.
- the bandwidth represents the maximum frequency of a signal that can be transmitted over this data channel.
- a data channel with a given Bandwidth is suitable for transmitting signals for a controller, in particular a controller, with this bandwidth.
- control bandwidth is to be understood below to mean the frequency range of the frequencies to be regulated, in particular those to be compensated, in particular the resonance frequencies.
- Another property of a data channel is its maximum data rate.
- the relationship between the bandwidth of a control and the data rate of the corresponding data channel required for this purpose is determined by the sampling rate of the signal transmitted via this channel.
- the sample rate indicates how many measurement and / or controller readings per unit of time are calculated and transported over a given data channel.
- the sampling rate must be at least twice as high as the bandwidth. It may be required that the sampling rate be at least five times, in particular at least ten times as high as the control bandwidth.
- the maximum required data rate of a data channel results in particular as a product of the required sampling rate and the bit depth of the signal to be transmitted.
- the maximum data rate of a data channel is thus directly related to its bandwidth.
- the bandwidth of the data channel which is also referred to as a fast data channel, may be at least 2 kHz, in particular at least 3 kHz, in particular at least 5 kHz, in particular at least 10 kHz.
- the mirror elements generally have at least one degree of freedom of displacement, in particular at least two, in particular at least three degrees of freedom of displacement. These are in particular Kipp proceedingssgrade.
- the individual mirrors can be tilted in particular by at least one, in particular at least two, linearly independent axes.
- the individual mirrors can also be displaced linearly, in particular in the direction of their surface normals. In the following, for the sake of simplicity, reference will be made exclusively to the tilting of the individual mirrors. However, this is not to be understood as limiting.
- the first data channel has, in particular, a bandwidth as described above for each shift degree of freedom of each of the individual mirror elements.
- the high bandwidth makes it possible to attenuate by means of the device unwanted movements, in particular vibrations, in particular in the range of natural frequencies, in particular in the range of 100 Hz to 5000 Hz, the mirror elements.
- One aspect of the invention therefore relates to the use of the device for damping the mirror elements.
- the number of mirror elements being at least 100, in particular at least 10,000, in particular at least 30,000, in particular at least 100,000, in particular at least 300,000, in particular at least 1,000,000.
- a data channel should be understood in particular to mean a constructive component for transmitting a signal from the control device to the multi-mirror arrangement.
- Such a data channel can be formed in particular by a suitable cable.
- wireless data transmission is also possible.
- a data channel refers to a means of facilitating information flow. Simplified, the term data channel is also used to designate the information flow itself.
- the first data channel has a bit depth of a maximum of 32 bits per sample, in particular a maximum of 16 bits, in particular a maximum of 8 bits, in particular a maximum of 4 bits, in particular a maximum of 2 bits. Due to the low bit depth, the overall data flow can be reduced. This reduces the complexity of data transmission. In addition, this reduces in particular the total volume of the data to be transmitted.
- the device comprises a multiplicity of first data channels.
- the plurality of data channels can be formed in particular by a single or a plurality of constructive components. It is in particular for each of the mirror elements at least a first data channel intended. In particular, at least one first data channel can be provided for each shift degree of freedom of each of the mirror elements.
- the number of data channels is in particular at least as large as the number of mirror elements, in particular at least twice as large as the number of mirror elements.
- the number of data channels is in particular at least 1000, in particular at least 10000, in particular at least 30,000, in particular at least 50,000, in particular 100,000, in particular at least 300,000, in particular at least 500,000.
- the device comprises a control unit in which a common output signal is determined from the signals of at least two data channels.
- control unit may in particular be a digital component. It is connected on the output side to the DAC of the multi-mirror arrangement.
- control unit in particular the signals of the first and second data channel of a mirror element or a displacement degree of freedom thereof can be combined into a common signal.
- the signals of the data channels can be encoded and / or compressed. Details of the coding and / or compression will be described in more detail below.
- the data channel is connected to a digital-to-analog converter (DAC) in a signal-transmitting manner.
- the DAC may be part of an application specific integrated circuit (ASIC).
- ASIC application specific integrated circuit
- the ASIC in turn can be part of the multi-mirror array (MMA).
- MMA multi-mirror array
- the data channel can in particular be part of a digital control loop.
- the device comprises at least one second data channel for signal transmission to the multi-mirror arrangement, which has a bandwidth of at most 500 Hz, in particular at most 200 Hz, in particular at most 50 Hz, in particular at most 10 Hz, in particular at most 1 Hz. Again, the bandwidth is directly related to the sampling frequency.
- the second data channel is also called a slow data channel.
- the at least one second data channel has a bit depth of at least 10 bits, in particular at least 16 bits, in particular at least 32 bits, in particular at least 64 bits, in particular at least 128 bits, in particular at least 256 bits, in particular at least 512 bits, in particular at least 1024 bits.
- a second data channel can be provided for each of the mirror elements, in particular each degree of freedom of displacement of each of the mirror elements.
- the bandwidths of the first and second data channel of a given mirror element or its displacement degrees of freedom each have a ratio of at least 2: 1, in particular at least 3: 1, in particular at least 5: 1, in particular at least 10: 1, in particular at least 30: 1, in particular at least 50: 1, in particular at least 100: 1.
- the respective bit depths each have a ratio of at most 1: 2, in particular at most 1: 3, in particular at most 1: 5, in particular at most 1: 10, in particular at most 1 : 30, in particular at most 1:50, in particular at most 1: 100.
- the device comprises at least one sensor device, in particular at least one external sensor device.
- the sensor device makes it possible to detect the displacement positions of the mirror elements of the multi-mirror arrangement relative to a reference point outside the multi-mirror arrangement.
- the device may comprise only such external sensors.
- it can have a multiplicity of such sensors.
- the device comprises at least one sensor device with a bandwidth of at least 1 kHz.
- the bandwidth in particular the sampling frequency of the sensor device, may be at least 2 kHz, in particular at least 3 kHz, in particular at least 5 kHz, in particular at least 10 kHz, per controlled axis.
- the sensor device can in particular be part of a control loop, which is referred to as a fast control loop.
- the device comprises a multiplicity of such sensor devices.
- it may have at least 10, in particular at least 20, in particular at least 30, in particular at least 50 sensor devices.
- a camera in particular with a CMOS chip, can serve as sensor device.
- the sensor device may have a bit depth of at most 1024 bits, in particular at most 512 bits, in particular at most 256 bits, in particular at most 128 bits, in particular at most 64 bits. It can also have a greater bit depth.
- the displacement position of one or more of the mirror elements or their time derivative can be detected.
- the sensor device may also include faster sensors and slower but more accurate sensors.
- the bandwidths and bit depths of the faster and slower sensor devices refer to the first and second data channels.
- the sensor system that is, the entirety of the sensor devices, allows both a very precise detection of the displacement positions of the individual mirror elements and / or their timing, as well as a very fast detection of these variables.
- the speed of the sensor device is limited by the bandwidth, ie the sampling frequency of the fast sensors.
- the precision is limited by the bit depth, especially the slower sensors.
- Another object of the invention is to improve an optical device. This object is achieved by a component comprising a multi-mirror arrangement and a device according to the preceding description. By the device described above, the positioning of the mirror elements is improved. The further advantages result from those already described for the device.
- the multi-mirror arrangement is in particular a microelectromechanical system (MEMS).
- MEMS microelectromechanical system
- it can be a multi-mirror arrangement for reflecting EUV radiation, in particular radiation in a wavelength range from 5 nm to 30 nm, in particular less than 14 nm.
- the number of mirror elements of the multi-mirror arrangement is in particular at least 1000, in particular at least 10000, in particular at least 30,000, in particular at least 50,000, in particular at least 100,000, in particular at least 200,000, in particular at least 300,000, in particular at least 1,000,000.
- the multi-mirror arrangement comprises mechanical means for damping excitations of the mirror elements in the region of at least one of their resonance frequencies.
- the multi-mirror arrangement has in particular mechanical means for damping excitations with frequencies above 100 Hz, in particular above 200 Hz, in particular above 400 Hz, in particular above 800 Hz.
- Such a damping can be achieved in particular by means of a suitable suspension and / or mounting of the mirror elements.
- analog circuits are provided for the actuation of the mirror elements, which are formed without feedback.
- the circuits are designed in particular as application-specific integrated circuits (ASIC).
- the optical component can in particular have exclusively digital control loops. As a result, in particular the training of the ASICs is simplified. This makes the optical component as a whole simpler, in particular easier to manufacture and easier to test. Further advantages will be presented below with reference to the embodiments.
- Another object of the invention is to improve a method of controlling the positioning of a plurality of mirror elements of a multi-mirror array. This task is solved by a procedure with the following steps:
- the at least one first data channel has a bandwidth which is at least twice as large as a resonant frequency of one of the mirror elements.
- the bandwidth, in particular the sampling frequency, of the first data channel is in particular at least twice as large as the smallest resonance frequency of the mirror elements.
- the control device is, in particular, an external control device, that is to say it is not part of the multi-mirror arrangement, in particular not integrated in it, but is formed separately from the multi-mirror arrangement.
- the control device is designed in particular digital. In particular, it has a multiplicity of data channels. The signals from at least two data channels can be combined to form a common output signal. For further details, reference is made to the preceding description and to the description of the exemplary embodiments.
- each data channel has a maximum data flow of at most 50 kbit / s per controlled axis.
- the maximum data flow per controlled axis of each data channel is in particular at most 30 kbit / s, in particular at most 20 kbit / s, in particular at most 10 kbit / s, in particular at most 7 kbit / s.
- the positions of the mirror elements and / or changes thereof are detected by means of at least one sensor device, in particular by means of at least one external sensor device.
- an external sensor device should be understood in particular to mean that the measurement of the displacement positions of the mirror elements and / or the changes thereof relative to a reference point outside the multi-mirror arrangement, in particular relative to a reference point on a frame Housing or other stationary component of the projection exposure system.
- the sensor device is in particular formed separately from the multi-mirror arrangement.
- the multi-mirror arrangement can also have integrated sensors, in particular on the ASICs.
- the external sensor device is in data-transmitting connection with the control device.
- the external sensor device is in particular part of at least one digital control loop.
- a plurality of sensor devices can also be provided, which in particular are components of separate control loops, in particular control loops with different sampling frequencies.
- the data channel has a channel structure with at least two communication channels.
- the data channel has a logical subdivision into at least two, in particular into a multiplicity of communication channels.
- the number of communication channels may in particular be just the number of mirror elements of the multi-mirror arrangement or the number of mirror elements multiplied by the number of their degrees of freedom.
- the at least one first, fast data channel and the at least one second, slower data channel into a single data channel.
- a multiplex For the logical subdivision of the data channels, in particular a multiplex
- Advantageous examples of the separation of the individual communication channels are, in particular, a time-slotted separation, a frequency-sliced separation, a code division multiplex method, in particular a so-called Code Division Multiple Access
- CDMA compact code division multiple access method
- SPMA space division multiple access method
- Multiplexing and Multiple Access are used interchangeably below, even if the data channels are connected to one or more transmitters or receivers at the input and output ends.
- the data stream generated by the controller is encoded.
- the coding can also be a compression of the Act data stream.
- it may be provided to individually encode or compress the signals for each of the mirror elements and / or each degree of freedom thereof.
- the coding may be one or more of the following variants: limitation of the dynamic range, in particular the bit depth, differential transmission, transmission of the steepness of the signal waveform (slew rate), non-linear quantization, vector quantization, in particular in a tilt plane, vector coding, Restriction of the frequency ranges, limitation of the information transport to signal contents with respect to other basis functions than with the Fourier decomposition or coding according to an entropy method.
- limitation of the dynamic range in particular the bit depth
- differential transmission transmission of the steepness of the signal waveform (slew rate)
- non-linear quantization in particular in a tilt plane
- vector coding Restriction of the frequency ranges
- limitation of the information transport to signal contents with respect to other basis functions than with the Fourier decomposition or coding according to an entropy method for details of the different Codiertinen reference is made to the description of the embodiments.
- the signals are multiplexed and / or compressed for a plurality of mirror elements or their degrees of freedom.
- correlations between the individual mirror elements or their degrees of freedom are taken into account.
- the amount of data to be transmitted per unit of time can be considerably reduced.
- the signals for a plurality of mirror elements or their degrees of freedom are model-based coded and / or compressed.
- a model-based prediction for a sample is generated in the control unit.
- the control unit knows the current position measured value via the sensor device and can therefore calculate the prediction error of the model and transmit this prediction error via a data channel to the multi-mirror arrangement.
- the decoding device or decompression device on the multi-mirror arrangement uses the same model for the controlled system, for example micromirrors, and can use the prediction error and a model forecast to reconstruct the current sensor value.
- the reduction of the data rate between the control device and the multi-mirror arrangement is achieved by transmitting the prediction error at a high sampling rate with only a few bits, that is, with a low bit depth.
- past values are taken into account in the coding and / or compression.
- the coding / compression is especially extended to the temporal dimension. This is also referred to as "3D coding.”
- 3D coding In the case of bundled coding, it may be particularly advantageous to reorder the channels, thereby further improving the data reduction
- the resorting can in particular be carried out in such a way that correlations are increased, in particular maximized. In particular, it may be used to maximize compression efficiency, such as clustering, that is, a summary of the signals to mirrors having similar tilt angle setpoints, tilt angle amounts, or tilt angle directions.
- prior knowledge and / or environmental conditions can be taken into account in the coding.
- further measurement signals can be taken into account.
- Further environmental conditions or further prior knowledge that can be used in the coding concern a selection from the following list: tilt angle setpoints, temperature, temperature profile, EUV excitation, EUV source triggers, waferstage movements, measurement data from dose sensors and measurement data from global acceleration sensors. Further objects of the invention are to improve an illumination optical system and a lighting system for a projection exposure apparatus as well as a projection exposure apparatus for microlithography.
- Further objects of the invention are to improve a method for producing a micro- or nanostructured component and a device produced according to the method.
- FIG. 1 is a schematic representation of a projection exposure apparatus for microlithography with an illumination system and a projection optical system in a meridional section, a schematic representation of two adjacent mirror elements of a multi-mirror arrangement of the projection exposure apparatus according to FIG. 1, further schematic cross sections through embodiments of optical components with one DahlLite- arrangement, a schematic representation of the regulation of the positioning of mirror elements of a multi-mirror arrangement, a representation of FIG. 5 a control with two monitoring systems, another schematic representation of a scheme with separate communication channels, another illustration of a Control with compressed data transmission,
- 9 and 10 are schematic representations of a non-linear quantization for data reduction
- Fig. 11 is a schematic representation to illustrate a differential
- FIG. 13 shows a schematic representation of a control with bundled coding and compression
- FIG. 14 shows a schematic illustration of the data reduction in the case of correlated signals
- FIG. 15 shows a schematic representation of a data compression using a resorting of the signal components
- FIG. 15 shows a schematic representation of a data compression using a resorting of the signal components
- FIG. 16 schematically shows the sequence of a 3D coding.
- the basic structure of a projection apparatus 1 will first be described with reference to the figures.
- An illumination system 2 of the projection apparatus 1 has, in addition to a radiation source 3, an illumination optics 4 for exposure of an object field 5 in an object plane 6.
- the object field 5 can be rectangular or arcuate with an x / y aspect ratio of, for example, 13/1.
- a reflective reticle arranged in the object field 5 and not shown in FIG. 1 is exposed, which carries a structure to be projected with the projection apparatus 1 for producing microstructured or nanostructured semiconductor components.
- a projection optics 7 serves to image the
- the structure is depicted on the reticle on a photosensitive layer of a arranged in the image plane 8 in the image plane 9 wafer, which is not shown in the drawing.
- the reticle which is held by a reticle holder, not shown, and the wafer, which is held by a wafer holder, not shown, are used in the operation of the projection element.
- system 1 synchronously scanned in the y-direction. Depending on the imaging scale of the projection optics 7, an opposite scan of the reticle relative to the wafer can also take place.
- the reticle is imaged onto a region of a photosensitive layer on the wafer for the lithographic production of a microstructured or nanostructured component, in particular a semiconductor component, for example a microchip.
- the reticle and the wafer are continuously synchronized in the y-direction in the scanner mode or stepwise in the stepper mode.
- the radiation source 3 is an EUV radiation source with an emitted useful radiation in the range between 5 nm and 30 nm. It can be a plasma source, for example a GDPP source (plasma generation by gas discharge, gas discharge produced plasma), or to an LPP source (plasma generation by laser, laser produced plasma) act. Other EUV radiation sources are also possible, for example those based on a synchrotron or on a Free Electron Laser (FEL). EUV radiation 10 emanating from the radiation source 3 is bundled by a collector 11. A corresponding collector is known for example from EP 1 225 481 A. After the collector 11, the EUV radiation 10 propagates through an intermediate focus plane 12 before impinging on a field facet mirror 13 having a plurality of field facets 13a. The field facet mirror 13 is arranged in a plane of the illumination optics 4, which is optically conjugate to the object plane 6.
- EUV radiation 10 emanating from the radiation source 3 is bundled by a collector 11.
- a corresponding collector is known for example from EP 1 225 4
- the EUV radiation 10 is also referred to below as useful radiation, illumination light or as imaging light.
- the EUV radiation 10 is reflected by a pupil facet mirror 14 having a plurality of pupil facets 14a.
- the pupil facet mirror 14 lies either in the entrance pupil plane of the illumination optics 7 or in an optically con- yuwned plane.
- the field facet mirror 13 and the pupil facet mirror 14 are constructed from a plurality of individual mirrors which will be described in more detail below. The subdivision of the field facet mirror 13 into individual mirrors may be such that each of the field facets 13a, which illuminate the entire object field 5 for itself, is represented by exactly one of the individual mirrors.
- the field facets 13a it is possible to construct at least some or all of the field facets 13a by a plurality of such individual mirrors.
- the EUV radiation 10 impinges on the two facet mirrors 13, 14 at an angle of incidence, measured normal to the mirror surface, which is less than or equal to 25 °.
- the two facet mirrors 13, 14 are thus exposed to the EUV radiation 10 in the region of a normal incidence operation. Also, a grazing incidence is possible lent.
- the pupil facet mirror 14 is arranged in a plane of the illumination optics 4, which represents a pupil plane of the projection optics 7 or is optically conjugate to a pupil plane of the projection optics 7.
- the pupil-facet mirror 14 and an imaging optical assembly in the form of a transmission optical system 15 with mirrors 16, 17 and 18 designated in the order of the beam path for the EUV radiation 10 the field facets of the field facet mirror 13 are imaged onto the object field 5 superimposed.
- the last mirror 18 of the transmission optical system 15 is a "grazing incidence mirror.”
- the transmission optical system 15, together with the pupil facet mirror 14, is also referred to as successive optics for transferring the EUV radiation 10 from the field facet mirror 13 to the object field 5
- Illumination light 10 is guided over a plurality of illumination channels from the radiation source 3 to the object field 5.
- a field facet 13a of the field facet mirror 13 and one pupil facet 14a of the pupil facet mirror 14 are assigned to each of these illumination channels
- PupiUnfacettenaciouss 14 can be actuated tiltable, so that a change in the assignment of the pupil facets 14a to the field facets 13a and, accordingly, a changed configuration of the illumination channels can be achieved Discrimination of the illumination angle of the illumination light 10 on the object field 5 differ.
- a global Cartesian xyz coordinate system is used below, among other things.
- the x-axis in Fig. 1 is perpendicular to the plane to the viewer.
- the y-axis extends in Fig. 1 to the right.
- the z-axis extends in Fig. 1 upwards.
- the field facet mirror 13 is designed as a multi-mirror or micromirror array (MMA).
- the multi-mirror or micromirror array (MMA) is also referred to below only as a mirror array or multi-mirror arrangement 22.
- the field facet mirror 13 is designed as a microelectromechanical system (MEMS). It has a multiplicity of individual mirrors arranged in matrix-like rows and columns in an array. The individual mirrors are also referred to below as mirror elements 23.
- the mirror elements 23 are designed to be tiltable actuator, as will be explained below. Overall, the field facet mirror 13 has approximately 100,000 of the mirror elements 23. Depending on the size of the mirror elements 23, the field facet mirror 13 may also have, for example, 1000, 5000, 7000 or else several hundred thousand, in particular more than 200000, in particular more than 300000, in particular more than 500000 mirror elements 23.
- a spectral filter In front of the field facet mirror 13, a spectral filter can be arranged which separates the useful radiation 10 from other wavelength components of the emission of the radiation source 3 that can not be used for the projection exposure.
- the spectral filter is not shown.
- the field facet mirror 13 is charged with useful radiation 10 with a power of 840 W and a power density of 6.5 kW / m 2.
- the useful radiation 10 can also have a different power and / or power density.
- the mirror elements 23 are arranged in a substrate 30. This is mechanically connected via a heat conduction section 31 with a mirror body 32. Part of the heat conduction section 31 is a joint body 33, which allows a tilting of the mirror body 32 relative to the substrate 30.
- the joint body 33 may be formed as a solid-body joint, which allows a tilting of the mirror body 32 by defined tilting degrees of freedom, for example, about one or two, in particular mutually perpendicular, tilt axes.
- the joint Body 33 has an outer retaining ring 34 which is fixed to the substrate 30. Furthermore, the joint body 33 has an internally connected to the outer retaining ring 34 inner holding body 35. This is centrally located below a reflection surface 36 of the mirror element 23. Between the central holding body 35 and the reflection surface 36, a spacer 37 is arranged.
- an actuator pin 38 is arranged on this.
- the actuator pin 38 may have a smaller outer diameter than the spacer 37.
- the actuator pin 38 may also have the same or a larger diameter than the spacer 37.
- the substrate 30 forms a sleeve surrounding the actuator pin 38.
- a total of three electrodes 54 are integrated, which are arranged in the circumferential direction in each case approximately 120 ° overstretched against each other electrically insulated.
- the electrodes 54 represent counterelectrodes for the actuator pin 38 designed as an electrode pin in this embodiment.
- the actuator pin 38 can be designed in particular as a hollow cylinder. In principle, it is also possible to provide a different number of electrodes 54 per actuator pin 38. In particular, four or more electrodes 54 per actuator pin 38 may be provided.
- an electrostatic force can be generated on the actuator pin 38 which, as exemplified in the right half of FIG. 2, results in a deflection of the mirror element 23 can lead.
- the mirror array 22 with the mirror elements 23 and the substrate 30 has a perpendicular to a surface normal 41 extending total area. It comprises a multiplicity of mirror elements 23, which each have a reflection surface 36 and two displacement elements.
- the mirror elements 23 have at least one displacement degree of freedom. They may also have three or more displacement degrees of freedom. In particular, they have at least one, preferably at least two tilting degrees of freedom. They can also have a translational degree of freedom.
- the reflection surface 36 may have an extension of 0.5 mm ⁇ 0.5 mm, 1 mm ⁇ 1 mm, 4 mm ⁇ 4 mm, 8 mm ⁇ 8 mm or 10 mm ⁇ 10 mm. It can also differ from the square shape. Other dimensions of the reflective surface 36 are also possible.
- the reflection surface 36 of the mirror elements 23 is planar. In principle, it can also be concave or convex or designed as a freeform surface.
- the reflection surface 36 of the mirror elements 23 is in particular provided with a (multilayer
- the multilayer coating allows, in particular, the reflection of useful radiation 10 having a wavelength in the EUV range, in particular in the range from 5 nm to 30 nm.
- the mirror elements 23 are held by the substrate 30.
- the substrate 30 has an edge region 42 extending in the direction perpendicular to the surface normal 41.
- the edge region 42 is in particular arranged circumferentially around the mirror elements 23.
- a width b in particular a maximum width b, of at most 5 mm, in particular at most 3 mm, in particular at most 1 mm, in particular at most 0.5 mm, in particular at most 0.3 mm, in particular at most 0 , 2 mm up.
- the total area of the mirror array 22 is thus in the direction perpendicular to the surface normal 41 by a maximum of 5 mm, in particular at most 3 mm, in particular at most 1 mm, in particular at most 0.5 mm, in particular at most 0.3 mm, in particular at most 0.2 mm over the total reflection surface, that is over the outer edge, over.
- the optical component 40 comprises a support structure 43 in addition to the mirror array 22.
- the support structure 43 is offset in the direction of the surface normal 41, in particular adjacent to the mirror array 22. It preferably has a cross-section which is identical to that of the substrate 30 of the mirror array 22. It is generally in the direction perpendicular to the surface normal 41 at most 5 mm, in particular at most 3 mm, in particular at most 1 mm, in particular at most 0.5 mm, in particular at most 0.1 mm, in particular at most 0.05 mm, in particular not at all over that Substrate 30 and thus over the total area of the mirror array 22 via.
- Such an arrangement is also referred to as an arrangement according to the "shadow-cast principle.” By this is meant, in particular, that the support structure 43 is arranged completely within a parallel projection of the total area of the mirror array 22 in the direction of the surface normal 41.
- the support structure 43 is made of a ceramic and / or silicon-containing and / or aluminum-containing material. This allows a heat dissipation from the mirror array 22 at the same time high mechanical stability.
- Examples of the material of the support structure 43 are ceramic materials, silicon, silicon dioxide, aluminum nitrite and aluminum oxide, for example Al 2 0 3 ceramic.
- the support structure 43 may in particular be made of a wafer.
- the support structure 43 may also be made of quartz or a glass wafer, which is provided with so-called thermal vias.
- the support structure 43 has a recess 44 which is open on one side.
- the recess 44 forms a receiving space open on one side for receiving further functional components.
- the recess 44 is on its mirror array 22 opposite side in the direction of
- the edge region 46 of the support structure 43 has a width bc in the direction perpendicular to the surface normal 41.
- the support structure 43 is mechanically connected exclusively in this edge region 46 with the mirror array 22. Between the support structure 43 and the mirror array 22, a sealing element 40 is arranged.
- the sealing element 40 is integrated into a metallization on the rear side 48 of the substrate 30 of the mirror array 22. It may also be formed as arranged on the edge region 46 of the support structure 43 sealing ring.
- the receiving space formed by the recess 44 is thus at least encapsulated during the manufacture of the component 40, that is, liquid-tight, in particular sealed gas-tight.
- a continuous intermediate layer, not shown in the figures, between the mirror array 22 and the ASICs 52 is necessary.
- the signal lines 47 are designed as electrical vias, so-called “vias.” They are bonded directly to the rear side 48 of the mirror array 22 opposite the reflection surfaces 36. They are also on the side opposite the mirror array 22, that is, the back side
- Each component 40 may have more than 30, in particular more than 50, in particular more than 70 signal lines 47.
- These signal lines 47 serve inter alia for the power supply of an integrated control device 51 for the control The displacement of the mirror elements 23.
- the control device 51 for controlling the displacement of the mirror elements 23 is integrated in the support structure 43.
- an application-specific integrated circuit 52 (ASIC) Device 40 may include a plurality of ASICs 52. It includes at least an ASIC 52, in particular at least two, in particular at least four, in particular at least nine, in particular at least 16, in particular at least 25, in particular at least 100 ASICs 52.
- each of the ASICs 52 is provided with at least one mirror element 23, in particular with a plurality of mirror elements 23, in particular with at least two, in particular at least four, in particular at least eight mirror elements 23 in signal connection.
- WO 2010/049 076 A2 On the rear side 49 of the support structure 43, the component 40 has an electrical interface 55.
- the interface 55 is in particular arranged completely on the rear side 49 of the support structure 43 opposite the mirror array 22. On lateral contacts, which are possible in principle, can be completely dispensed with. Thus, both the components of the component 40 as well as the signal and heat flux are aligned therein in the direction of the surface normal 41.
- the component 40 therefore has a vertical integration.
- the electrical interface 55 has a multiplicity of contact pins 56, contact pins 56 applied to the rear side 49 of the support structure 43.
- the contact elements 50 of the electrical interface 55 may be formed flat or as integrated pins in the support structure 43.
- vias in the support structure 43 which, for example, as a gold-filled through-hole holes are formed, partially exposed in the back 49 of the support structure 43. This can be achieved, in particular, by etching away a portion of the material of the support structure 43 surrounding the plated-through holes. The exposed portion of the vias now forms the contact element 50.
- the support structure 43 comprises a ferromagnetic element 57.
- an additional heat conducting element 53 may be arranged. It is also possible to provide a plurality of heat-conducting elements 53.
- the reticle and the wafer which carries a light-sensitive coating for the illumination light 10 are provided. Subsequently, at least a portion of the label is projected onto the wafer with the aid of the projection exposure apparatus 1.
- the reticle holder and / or the wafer holder can be displaced in the direction parallel to the object plane 6 or parallel to the image plane 9. The displacement of the reticle and the wafer can preferably take place synchronously with one another.
- the photosensitive layer exposed to the illumination light 10 is developed on the wafer. In this way, a microstructured or nanostructured component, in particular a semiconductor chip, is produced.
- a local control which, for example, as an analog control loop on The ASIC 52 is also referred to as an inner control loop and distinguishes an external or external control loop 62.
- the outer control loop 62 may in particular be formed separately from the multi-mirror arrangement 22, in particular separately from the ASIC 52. In particular, it is not closed locally in the multi-mirror arrangement 22.
- the local control loop serves primarily to dampen oscillations of the mirror elements 23, while the actual positioning, that is to say the adjustment of the displacement positions of the mirror elements 23, is carried out by means of the outer control belt 62.
- the outer control loop 62 typically operates with a relatively low bandwidth and low sampling frequency.
- the control device 61 comprises the outer control loop 62. It is connected to the mirror array 22 in a data-transmitting manner via a data channel 63.
- the data channel 63 has a bandwidth of at least 1 kHz.
- the bandwidth of the data channel 63 may in particular be at least 2 kHz, in particular at least 3 kHz, in particular at least 5 kHz, in particular at least 10 kHz.
- the control device 61 in particular allows both the damping of vibrations of the mirror elements 23, in particular in the range of their resonance frequencies, as well as the specification and regulation of the displacement positions thereof.
- the frequency spectrum of the mirror elements reference is made, for example, to FIG. 41 of WO 2013/120 926 A1 and the associated description.
- the control device 61 comprises a control device 64.
- the control device 64 can be arranged outside the illumination optics 4.
- the control device 64 comprises a first control unit 65 and a second control unit 66.
- the first control unit 65 is also called a fast control unit.
- the second control unit 66 is also referred to as a slow control unit.
- the first control unit 65 has a bandwidth of at least 1 kHz, in particular at least 2 kHz, in particular at least 3 kHz, in particular at least 3 kHz, in particular at least 5 kHz, in particular at least 10 kHz. It has a bit depth of at most 32 bits, in particular at most 16 bits, in particular at most 8 bits, in particular at most 4 bits, in particular at most 2 bits.
- the second control unit 66 has a bandwidth of at most 500 Hz, in particular at most 300 Hz, in particular at most 200 Hz, in particular at most 100 Hz, in particular at most 50 Hz.
- the second control unit 66 has a bit depth of at least 8 bits, in particular at least 16 bits, in particular at least 32 bits, in particular at least 64 bits, in particular at most 1024 bits, in particular at most 512 bits, in particular at most 256 bits, in particular at most 128 bits.
- the first control unit 65 has a large bandwidth. However, it has a relatively low bit depth.
- the second control unit 66 has a large bit depth. It has a relatively low bandwidth.
- the data flow of the control units 65, 66 per controlled axis is in each case in each case at most 50 kbit / s, in particular at most 30 kbit / s, in particular at most 20 kbit / s, in particular at most 10 kbit / s, in particular at most 7 kbit / s.
- the control units 65, 66 are each connected in a data-transmitting manner with a protocol generating unit 67.
- the protocol generating unit 67 is used to generate a control data stream 68.
- the control data stream 68 may in particular have a logical subdivision. This will be explained in more detail below.
- the protocol generating unit 67 is connected to an electronic component 69.
- the electronic component 69 may form an intermediate control unit which is integrated in the EUV lighting system 2.
- the control device 61 comprises a control unit 70.
- the electronic component 69 is connected to the control unit 70 via two data connections 71, 72.
- the two data connections 71, 72 can also be structurally combined.
- the data connection 71 serves to transmit the high-frequency, that is to say fast, low-bit-rate data stream.
- the data connection 72 serves to transmit the slower, that is to say low-frequency, data stream with a greater bit depth.
- a single common output signal is generated from the data streams transmitted by the data connections 71, 72.
- This output signal is transmitted via the data channel 63 to a digital-to-analog converter 73 (DAC).
- DAC digital-to-analog converter
- the digital-to-analog converter 73 may be disposed on the ASIC 52. In particular, it may be formed as part of the ASIC 52.
- the control signal is transmitted to a driver circuit 74.
- the driver circuit 74 the actuators of the mirror elements 23 are activated, that is, the positioning of the mirror elements 23 is controlled or regulated.
- the entire data transmission between the control device 64 and the mirror array 22, in particular the ASIC 52 as a data transmission channel or data transmission system or abbreviated referred to as a data channel.
- the control device 61 also includes a monitoring system 75. It comprises in particular an electronic monitoring system 75.
- the monitoring system 75 is in particular designed to be digital. Preferably, the entire control device 61 is formed digitally.
- the monitoring system 75 may include, for example, one or more cameras, in particular digital cameras 76, or be in data-transmitting connection with the same. In particular, it may include a plurality of cameras 76 with a plurality of CMOS sensors.
- the number of cameras 76, in particular the number of CMOS sensors can be in the range from 1 to 50, in particular in the range from 10 to 50.
- the cameras 76, in particular the CMOS sensors may be separate from the control device 61. They may also form part of the control device 61.
- the cameras 76 may in particular form part of the monitoring system 75.
- the cameras 76 and the monitoring system 75 are part of an external sensor 79.
- the monitoring system 75 has a high bandwidth.
- the bandwidth of the monitoring system 75 is in particular at least half as large, in particular at least as large, in particular the same size as the largest bandwidth of the control units 65, 66.
- the monitoring system 75 is connected in a data-transmitting manner with the control device 64, in particular with the control units 65, 66.
- the detection of the displacement positions, in particular the tilt angle of the mirror elements 23 and / or their changes thus does not take place via a MEMS-internal sensor system, but via the external sensor system 79.
- the external sensor system 79 By means of the external sensor system 79, the displacement positions of the mirror elements 23 and / or their changes, in particular their time derivatives, relative to an external reference point, that is to a reference point outside the mirror array 22, detected.
- the external sensor system 79 detects the displacement positions and / or their changes relative to an external fixed point, for example the housing of the projection exposure system 1. This also makes it possible to move the entire mirror array 22, in which the mirror elements 23 and the associated ASICs 52 move in unison with each other and thus remain stationary relative to each other.
- control device 61 can be designed such that it dampens all the vibrations and / or excitations of the mirror elements 23 to be expected during operation of the projection exposure apparatus 1 at least to a predetermined degree.
- the mechanical design of the mirror array 22, in particular the structural details of the suspensions of the mirror elements 23, can be substantially simplified.
- the mirror elements 23 can in particular Have special bearings, which dampen vibrations above a cutoff frequency, in particular above the lowest resonant frequency of the respective mirror element 23, in particular above 500 Hz, in particular above 1 kHz, effectively suppress.
- the damping to be achieved by means of the device 61 can be simplified.
- the maximum required to control the mirror elements 23 force or the maximum torque required can be reduced by a suitable mechanical suspension, in particular by a suitable mechanical damping.
- the data flow to be transmitted from the control device 61 to the mirror array 22 can be reduced.
- the regulation of the positioning of the mirror elements 23 by means of the outer control loop 62 has the following advantages, among others:
- the construction of the mirror array 22 becomes easier. In particular, it can be tested more easily. This is particularly advantageous in the case of a modular construction of the mirror array 22.
- the assembly of the mirror array 22 becomes easier and faster. As a result, in particular, the costs for producing the facet mirror as well as the illumination optics 4 and the projection exposure apparatus 1 as a whole are reduced.
- Avoiding a control loop on ASIC 52 improves electromagnetic compatibility (EMC) and / or noise performance.
- the ASIC 52 in particular becomes more robust, especially with respect to electromagnetic interference.
- the power supply to the mirror array 22 becomes easier. This also reduces the construction and / or the costs of the mirror array 22.
- Sensor elements on the ASIC 52 can be dispensed with. As a result, it is possible to dispense with terminals without ESD protection on the ASIC 52.
- ESD electrostatic discharge, electrostatic discharge
- An outer control loop 62 increases the possibilities of the architecture of the mirror array 22 and its arrangement. Overall, the flexibility is increased.
- ASICs 52 no longer have to be arranged in the immediate vicinity of the mirror arrays 22.
- they can have a distance of more than 1 mm, in particular more than 10 mm, from the mirror arrays 22.
- the outer control loop 62 With the help of the outer control loop 62, a position control in the entire frequency range between 0 Hz and a few kHz is possible. In particular, it is possible to close a bandgap in the range between 10 Hz and the first resonance peak.
- the outer control loop 62 and in particular its high-sampling component allows an aliasing-free position control.
- the outer control loop 62 is more accessible for maintenance.
- the outer control loop 62 includes programmable components. This increases the flexibility of the control.
- the outer control loop 62 allows for improved error control and protection measures, particularly control that intermediate signals are within the expected interval. Thus, a so-called pull-in of the micro-mirror can be avoided. For example, if the tilt angle of a micromirror increases too much or too fast, the monitoring function in the digital electronics may react and turn off the actuators to protect the micromirror.
- the regulation of the positioning of the mirror elements 23 takes place in particular over several, in particular at least two, preferably a plurality, in particular more than 10, in particular more than 100, in particular more than 1000, control channels.
- the control channels can in particular be designed as logical data channels, that is to say as logical subdivisions, in the control data stream 68 and / or in the data channel 63.
- At least one, in particular a plurality, in particular at least 10, in particular at least 100, in particular at least 1000, of these channels operate with a high sampling rate and a low bit depth.
- the sampling rate of this control channel or these control channels is in particular at least twice as large as the largest relevant resonance frequency of the mirror element 23 to be controlled.
- the data flow from the monitoring system 75 can be divided into different channels in accordance with the data flow from the control device 64 to the mirror array 22.
- the monitoring system 75 can be connected to the control device 64, in particular to the control units 65, 66 in a data-transmitting manner, in particular by means of fast data channels having a low bit depth and by means of slower data channels having a large bit depth.
- the bandwidths and bit depths of the fast and slow channels can correspond in particular precisely to those of the control channels between the control device 64 and the mirror arrays 22.
- the control system shown above may each have a fast and a slow control channel for each of the mirror elements 23 to control the positioning of the mirror elements 23. It is also possible to provide 23 separate control channels for each of the displacement degrees of freedom of the mirror elements. It is also possible for each of the displacement degrees of freedom of the mirror elements 23 to generate separate control signals, in particular by means of the protocol generation unit 67, which are combined by the control unit 70 into suitable actuation signals for each of the mirror elements 23. This may be advantageous, in particular, if more than two actuation electrodes 54 are provided for positioning one of the mirror elements 23.
- the external sensor system 79 can in particular a fast monitoring system 75a and a slow monitoring system 75b. This makes it possible to divide the monitoring, that is to say the sensing of the displacement positions of the mirror elements 23, into separate monitoring loops 77, 78.
- the monitoring loop 77 is also called a fast loop.
- the monitoring loop 78 is also called a slow loop.
- the monitoring loops 77, 78 are components of the outer control loop 62. Together they form the outer control loop 62 in particular.
- the monitoring system 75b measures the average displacement position of the respective mirror element 23, that is to say the one averaged over a sampling period. Regulation of the displacement positions of the mirror elements 23 based on measurement data relative to an external fixed point by means of the external sensor system 79 leads to a better optical performance and makes certain novel features possible in the first place.
- the information transmitted from the control device 64 to the mirror array 22 can be divided into different data flow channels.
- the data channel 63 can in particular be provided with a channel structure, in particular a logical channel structure.
- the data flow from the control device 64 to the mirror Elements 23 may be provided in particular a multiplex method.
- the control algorithm in the individual channels may differ here.
- TDMA Time Division Multiple Access
- FDMA Frequency Division Multiple Access
- CDMA Code Division Multiple Access
- SDMA space division multiple access
- the controller 64 includes a Tx channel coding unit 81.
- the Tx channel coding unit 81 may be formed as a DSP, FPGA, CPU, ASIC or the like, or may include such components.
- the Tx channel coding unit 81 is over the communication channels 80; connected to a corresponding Tx channel decoding unit 82.
- the decoding unit 82 may be formed in the optical component, for example on the ASIC 52, or as part of the control unit 70. It is connected to the digital-to-analog converter 73 via the data channel 63. It may optionally include a feedback data connection 83 to an Rx channel coding unit 84.
- the Rx channel coding unit 84 receives its input signals from the monitoring system 75, for example via an analog-to-digital converter 85.
- the Rx channel coding unit 84 and / or the analog-to-digital converter 85 may be components of the MEMS system. In particular, they may be formed on the ASIC 52. They can also be designed as components of the external sensor system 79.
- the Rx channel coding unit 84 is connected via communication channels 86, in particular digital communication channels 86 ;, to an Rx channel decoding unit 87 in a data-transmitting manner.
- the Rx channel decoding unit 87 may in particular be designed as a DSP, FPGA, CPU, ASIC or the like or comprise such components. It is in particular a component of the control device 64. It is connected to the Tx channel coding unit 81 in a data-transmitting manner via a control unit 93, which is also designed in particular as a DSP, FPGA, CPU or the like or comprises such components.
- the mode of operation of the controller architecture according to FIG. 7 will be described below.
- the controller information that is the respective setting or measuring information, is in different
- Communication channels 80i, 86 assigned.
- the information sent by one or more external controller computing units, in particular from the controller 64 to the MEMS units, in particular to the mirror elements 23, is not a single data flow for each MEMS channel, but each of these MEMS channels also have a logical subdivision.
- the logical MEMS channels are each bundled transported in communication channels.
- FIG. 7 shows a separation of the communication channels 80; shown.
- communication channel 80i may be the fast signal channel, that is, the high bandwidth signal, for attenuating one or more of the mirror elements 23.
- the coding of this signal can be done by limiting the range of the signals to reduce the required bits, that is, by limiting the bit depth of that signal. For the damping effect, only very small forces / moments are generally required in comparison to the positioning forces or moments. Therefore, the range of these damping control signals can be greatly limited, and few bits are enough for transmission.
- a second communication channel 80 2 (TxC 2 ) can transmit a slow signal for the exact position control. Since only a slow regulation takes place here, the control signal can be transmitted with full bit width, that is, with high resolution, without separate coding.
- the communication channels 80 may, as already mentioned with reference to Figures 5 and 6, be formed as physically separate links. They can also be logically separated, as described in connection with FIG. 7. In order to realize a tilt angle control via the outer control loop 62, one or more of the following possibilities can be provided:
- the information to be transmitted can be divided into different data flow channels.
- the data channel 63 can be provided with a channel structure, in particular a logical channel structure.
- a multiplex method is provided.
- each of the mirror elements 23 Individual coding or compression of the signals to each of the mirror elements 23 occurs. This is also referred to as channel-individual coding / compression, in particular as MEMS channel-individual coding / compression. In this case, a plurality of data channels to the mirror elements 23 of one and the same MEMS mirror array 22 should be understood as a MEMS channel. It is also possible to provide coding / compression for each tilt angle axis, in particular for each degree of freedom of displacement.
- the measurement or controller information of several MEMS channels are bundled encoded and / or compressed.
- control via the outer control loop 62 are explained in more detail below.
- coding for example, the restriction of the range of the control signals, in particular by limiting their bit depth, called. This was based on the recognition that for the attenuation of the mirror elements 23, the controller or control signals only have to include a very small range, since only small disturbances have to be compensated for damping. Thus, even with a few bits, that is to say with a small bit depth, a sufficiently fine quantization is given. This will be explained in more detail below.
- the coding of the communication channels 80i, 86 can also be extended. In particular, it is possible to use further codings of the communication channels 80i, 86 instead of or in addition to limiting the bit depth. make.
- the coding serves in particular to reduce the number of bits of the signals to be transmitted, that is to say to reduce the total data flow to be transmitted.
- the coding is used in particular for the compression of the signals, that is to say for the compression of the data flow.
- a controller architecture with such a compression is shown by way of example in FIG.
- the architecture of the control device 61 essentially corresponds to the architecture of the device 61 according to FIG. 7.
- the coding units 81, 84 are called Tx compression unit 88 or Rx
- Compression unit 89 denotes. Accordingly, the decoding units 82, 87 are referred to as Tx decompression unit 90 and Rx decompression unit 91, respectively. In addition, it is clarified by way of example in FIG. 8 that the communication channels 80 ;, 86; may each be physically designed as a single use of data.
- a differential transmission of the control signals may also be advantageous. This may mean that only controller errors are transmitted or that only the change is transmitted to the time-preceding value.
- Another advantageous coding is to send only a signal to the steepness of the waveform (slew rate). This corresponds to an instruction to the decoding unit, in particular to rise rapidly, to fall fast or to remain constant, that is to say for example five states which can be represented with 3 bits.
- a further advantageous coding consists in a non-linear quantization of the signals. This will be described in more detail below.
- a further advantageous coding consists in a vector quantization, in particular in the xy-tilt plane.
- Another coding can consist in a vector coding. In this case, only the information is sent which signal segments the decoding unit has to select from a catalog of signal form. This will be described in more detail below.
- Another advantageous Codiernote is to limit the frequency ranges. This can be advantageous, in particular in the case of MEMS mirrors, since the task of MEMS in a high vacuum is usually to dampen a few resonances. By limiting it to the most important resonances, in particular by, for example, transmitting only information in the vicinity of defined Fourier coefficients, a high reduction of the bit rate can be achieved.
- two variants can be distinguished with regard to the restriction to resonances: the restriction is made with permanently parameterized resonances, or the relevant frequencies are extracted from the signals, for example from the current power density spectrum.
- Another advantageous coding is to limit the information transport to signal contents with respect to other basic functions than in the Fourier decomposition.
- other functions serve as basic functions as sine or cosine functions.
- the signal contents can be quantized with respect to the new base.
- the basic functions can in particular be selected such that the signal has a particularly high content with respect to a given set of basic functions.
- Further coding variants consist of coding according to the entropy method or according to a Golomb-Rice coder.
- FIG. 9 exemplarily shows a probability density of a controller output value XR or of a measured variable XM against the corresponding controller output value x R or the measured variable XM.
- a non-uniform, that is a non-linear, quantization is provided.
- the quantization of the controller control values XR or the measured variable XM is adapted to the probability density within the corresponding interval.
- the higher the probability density in a certain range the higher the resolution is provided.
- a lower resolution is provided, provided that the probability density in this area is low.
- the probability density illustrated by way of example in FIG. 9 corresponds, for example, to the positions of a mirror element 23, which is arranged particularly frequently in one of the positions 1 or 2, somewhat less often in a position 3 and only relatively rarely in positions deviating therefrom.
- a non-linear quantization can also be provided multidimensionally.
- a vector quantization with a two-dimensional probability density for x and y can be provided.
- the quantization intervals and / or levels can be optimized. They can be optimized, for example, for a minimum error square or a maximum entropy for a given quantization step number.
- a non-uniform or non-linear quantization is particularly advantageous if the range of the variables to be controlled is limited and / or if the probability of occurrence is very high by a few specific values and decreases very sharply outside these probable ranges. Non-linear quantization can significantly reduce the number of bits to be transmitted.
- the current tilt angle is differentiated. With vibrations around a constant mean tilt angle and with slow drifts, this leads to the fact that the damping drive variable then fluctuates by the value 0 as the time derivative of the tilt angle. Since the vibrations are generally rather small, no particularly high driving forces are required. Higher driving forces are in other words increasingly unlikely.
- the probability density of the control variable, for example the time derivative of the tilt angle, at 0 is highest and falls sharply towards higher amounts.
- the probability density can, for example, as shown by way of example in FIG. 10, have the form of a Gaussian distribution. If, for example, the occurrence of certain values can be excluded, ie if the probability of these values occurring is identical to 0, the distribution can be set to 0 above a certain amount. Such values certainly do not occur or can not contribute to the regulation.
- control difference in particular the control difference for a disturbance variable control with a fixed tilt angle, generally only takes on very small values, ie values close to zero.
- FIG. 10 shows a non-linear quantization of the non-normalized probability density of the electrode voltage Uoamp. Illustrated by way of example is a non-linear quantization with 14 quantization intervals IInl Q, I 2n iQ... I 14nl Q. These 14 quantization intervals IiniQ can be represented with a 4-bit signal for Uoamp.
- a time profile of a controller control value XR ( T ) or a measured variable XM ⁇ is shown by way of example.
- the corresponding time profile XR (t) or XM (In the illustrated form, it is only necessary to send the information as to whether the signal is rising, remaining the same or falling: in other words, three states suffice This requires only two bits.
- a similar principle is based on the so-called Slew rate coding. It is transmitted with only a few bits, the information as to whether the control signal remains the same, rises or falls. With additional bits, a few rising or falling speeds of the actuating signal can then be differentiated in order to better represent and transmit signal progressions.
- FIG. 12 again shows, by way of example, the time characteristic of a controller manipulated variable XR (t) or a measured variable XM (four different signal forms (A, B, C, D) are shown by way of example in the upper area of Figure 12.
- the signal forms are also used as signal segments 92A, 92B, 92C, 92D Below the time axis of the time course of x R (t) and XM (respectively, it is shown how this curve can be coded by the four signal forms A, B, C, D.
- the shape of the signal segments 92i In particular, it is conceivable to have a catalog of signal segments 92 i which correspond to parts of sine oscillations at the resonant frequencies of the mirror elements 23. The reason for this is that in the case of vibrations often exclusively resp In most cases resonances are also excited by sinusoidal oscillations (with varying amplitude) at the resonant frequencies.
- the MEMS channel individual coding contains the individual coding for each tilt axis, but also the combined coding of the tilt axes.
- Vector coding in the x-y plane may also be advantageous.
- the catalog of signal segments then consists of 2D trajectories over the time axis instead of 1 D signal waveforms over the time axis.
- control and coding methods considered so far were limited to considering individual mirrors or individual tilt axes within the mirror array 22, it is also possible to bundle several MEMS channels in coded form. This is particularly advantageous if there are correlations between the deflections of the mirror elements 23, in particular their disturbances to be damped. If, for example, the mirror array 22 as a whole experiences a fault, it may be sufficient to transmit only a single tilt angle error for the entire mirror array 22 as controller information from the control device 64 to the mirror array 22.
- the architecture of the control device 61 shown in FIG. 13 essentially corresponds to the architecture of the control device 61 according to FIG.
- the control device 64 comprises, in particular, a multiplicity of control units 931... 93 n .
- the compression algorithm processes the information, that is to say the control signals to and / or from several of the mirror elements 23, in particular all mirror elements 23 of one of the mirror arrays 22, in particular of all the mirror arrays 22, simultaneously or bundled.
- the data flow that is to say the total amount of data to be transmitted per unit time between the control device 64 and the mirror elements 23, can be considerably reduced.
- the information required in the decompression units 90, 91 for the regulation of the individual mirror elements 23 or their displacement degrees of freedom is completely reconstructable. It is also possible to reconstruct the information required for controlling the mirror elements 23 in the decompression units 90, 91 only partially, that is to say incompletely, if this is sufficient for the required controller performance.
- the external sensor system 79 may include additional sensors 94 in addition to the monitoring systems 75.
- the sensors 94 serve, in particular, for detecting one or more variables for characterizing the ambient conditions of the mirror elements 23. These variables are indicated schematically in FIG. 13 by the reference numeral 95.
- a mean tilt angle error that is, to an average of the tilt angle errors of all the mirror elements 23, and to each of the individual mirror elements 23, respectively the individual deviation from this mean tilt angle error.
- These deviations of the individual mirror elements 23 of the same mirror array 22 can be coded with significantly fewer bits than the overall deviations.
- the savings in data flow volume are similar to those in differential encoding. However, here time is not differentiated, but encoded differentially over several bundled data channels. The individual deviation of each of the individual mirror elements 23 from the mean value can be represented and transmitted with a few bits.
- FIG. 14 is shown the time course of three signals to be transmitted A ls A 2, A 3 example.
- the signals A can again represent controller control values or measured variables.
- a 2 B 2 .Ai + C 2 and
- a 3 B 3 ⁇ Ai + C 3 , where Bi is a constant and is also assumed to be a constant. In general, it can be a time-dependent signal. However, the signals are generally lower in amplitude than the output signals Ai.
- Figure 14 is merely illustrative of the basic principle of bundled compression. Alternative coding methods, for example a standard MPEG method, are also possible for compression.
- 2D coding is conceivable.
- Such 2D coding is based on the idea of compressing the information of all tilt angles and / or drive variables for a mirror array 22 similar to an image at a given time, that is to say in this compression step without using temporal correlations.
- the deflate algorithm predicts the value from one pixel to the next and only stores or codes the prediction error. In regions, ie regions, with mirror elements 23 whose tilt angle differs little from that of the adjacent mirror element 23, the algorithm works very efficiently.
- the compression can, for example, also be applied to the tilt angle or other measured variables determined by means of the sensor system 79. It can also be applied to derived controlled variables, in particular the control difference or the time derivative of the control difference. Since the mirror elements 23 with comparable displacement positions usually also experience similar disturbances, for example due to vibrations, the above-described 2D compression is also very efficiently applicable to variables which do not directly represent the tilt angles themselves, but rather from the FIGS current tipping angles are derived, for example, the time derivative or the control difference.
- another advantageous coding method will be described.
- An example of a disturbance variable that leads to controller errors that are highly correlated in time between individual channels and thus highly correlated communication signals are excitations due to pulses or pulse sequences of the illumination radiation 14.
- the signal shape is structurally very similar for the various mirror elements 23 , However, it may differ in direction and amplitudes between the individual mirror elements 23. However, the direction and amplitude can be derived at least partially directly from the tilt angle setpoints. If the constant nominal values of the coding unit 81 and of the decoding unit 82 are present, it may be sufficient, for example, to transmit only a single pattern regulator signal for each mirror array 22. The decoding can then take place individually for each of the mirror elements 23, taking into account the temporally constant tilt angle setpoint value.
- variations between the individual mirror elements 23 can also be transmitted within a mirror array 22.
- this information can again be encoded with a few bits.
- the temporal change of the tilt angle ie the difference of the tilt angle values at two successive points in time, is limited in the range.
- the probability density of the changes is such that only small ranges of the possible tilt angle range have to be transmitted and thus quantized.
- This time compression greatly reduces the number of bits required.
- the described 2D compression can then be applied to the already reduced data set in a subsequent step.
- Such a combination of a 2D coding with the addition of the temporal aspect, that is to say involving the temporal dimension, is also referred to as 3D coding.
- a control sequence 99 will be described once again with reference to FIG. 16 on the basis of the sequence of a 3D coding at the sampling time n.
- a measuring step 100 the current tilt angles of the mirror elements 23 are measured.
- the sensor system 79 is used in particular for measuring or detecting the tilt angle.
- the tilt angles of the x ⁇ y mirror elements 23 of the mirror array 22 at time n are denoted by a (x, y, n).
- the differences e (x, y, n) are next calculated in a differentiation step 101.
- a data set e qua nt (x, y, n) is calculated by limiting the value range of the differences e (x, y, n) and nonlinear quantization within the limited value range.
- e qua nt (x, y, n) for example, suffice only 5 bits per pixel.
- a local compression step 103 the data set e qua nt (x, y, n) is compressed by 2D image compression, in particular by a deflation algorithm.
- the data volume can be reduced, for example, to a fifth.
- the data set ekom P (x, y, n) is then transferred from the control device 64 to the mirror array 22 in a transfer step 104.
- the data record ekom P (x, y, n) is in particular transmitted to the decoding unit 82 or the decompression unit 90.
- ekom P (x, y, n) is unpacked, that is decoded and / or decompressed.
- the compressed data set ekom becomes P (x, y, n) in a decoding step or decompression step
- a subsequent update step 107 the values of the tilt angles ⁇ in the coding unit 81 are brought to the new values, that is to say the values at time n, that is to say the values a (x, y, n).
- the control cycle 99 is started again with the next measuring step 100.
- 8192 bits can be transmitted in about 0.08 ms.
- the approximately 0.08 ms transmission time at resonance would correspond to a phase loss of about 2.88 °.
- Such latencies can be used, for example, for tilt angle measurement and / or data compression and / or data decompression.
- the local coordinate in this context denotes the position of the mirror element 23 in the mirror array 22.
- Prediction means that the tilt angles at a given point in time are predicted from those of the preceding times, in particular those of the immediately preceding time, so that only prediction parameters and prediction errors have to be transmitted.
- the receiver in particular the decoding or decompressing unit 82, 90 or the control unit 70 or the electronics on the ASIC 52, knows the prediction model and can extract the full information from the prediction parameters and the prediction error, in particular extract it loss-free.
- the coding and decoding of the control signals can be improved.
- Encoding and decoding do not necessarily have to be grouped according to physical units.
- the coding / decoding packets can also be arranged by resorting in such a way that the data reduction is optimal. This can be achieved, for example, by clustering mirror elements 23 with similar tilt angle setpoints in the x and / or y direction and / or mirror elements 23 with similar tilt angle amounts and / or mirror elements 23 with similar tilt angle values. Directions happen.
- FIG. 15 shows by way of example how a better compression efficiency can be achieved by resorting the controller signals in the coding unit.
- the output signal is a vector 109 with the signals A ls A 2 , A 3 .. A n to be transmitted.
- a permutation step 110 the elements of the vector 109 are permuted by means of a permutation matrix M.
- the elements of the vector 109 are permuted in such a way that similar, in particular identical signals come to lie adjacent.
- the permuted vector 109 thus has regions, in particular contiguous regions with similar, in particular identical signal constituents. Then, the permuted vector is compressed in a compression step 111.
- the compressed vector is then transferred to the decompression unit 90 in a transfer step 112. In particular, it is transmitted digitally.
- the permutation matrix M the signal A ls the constants B 2 , C 2 , B 3 , C 3 and the frequencies n ls n 2 , n 3 of the occurrence of the signals A ls A 2 , A 3 transmitted.
- the constants Bi, Ci reference is made to the preceding description of the bundled coding of correlated signals (see FIG. 14).
- the data is decompressed in a decompression step 113. They are then depermutated using the inverse, M "1 , of the permutation matrix M in a de-permutation step 114.
- the vector 109 with the signal components A ls A 2 , A 3 ... A n is again in its original form. Again, it is again possible to provide lossy compression / decompression instead of lossless.
- the abovementioned coding methods can be further improved if prior knowledge, in particular via environmental information, for example with the aid of further signals, in particular further measuring signals, is introduced for coding.
- the data reduction can be further improved.
- Examples of prior knowledge and / or environmental information include the tilt angle setpoints, the temperature, the temperature profile, the characteristics of the illumination radiation, in particular the activation of the radiation source 3, in particular the activation times and / or the activation frequency and / or the intensity of the emitted Illumination Radiation 10.
- Other environmental information that can be used to advantage include wafer holder movement and / or reticle holder movement, dose sensor measurement data, and global accelerometer data.
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Abstract
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JP2017507071A JP6698068B2 (ja) | 2014-04-25 | 2015-04-20 | マルチミラー配置内の複数の調節可能ミラー要素の位置決めを制御するためのデバイス及び方法 |
US15/332,187 US10018803B2 (en) | 2014-04-25 | 2016-10-24 | Device and method for controlling positioning of multiple adjustable mirror elements in a multi-mirror arrangement |
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DE102014207866.0A DE102014207866A1 (de) | 2014-04-25 | 2014-04-25 | Vorrichtung und Verfahren zur Regelung der Positionierung einer Vielzahl von verstellbaren Spiegel-Elementen einer Vielspiegel-Anordnung |
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DE102015225537B4 (de) * | 2015-12-17 | 2019-11-14 | Carl Zeiss Smt Gmbh | Vorrichtung zur Ausrichtung eines Bauteils, Betätigungseinrichtung und Projektionsbelichtungsanlage |
DE102016209849A1 (de) * | 2016-06-03 | 2017-05-18 | Carl Zeiss Smt Gmbh | Vorrichtung und Verfahren zur aktiven Dämpfung zumindest eines Spiegels einer Lithographieanlage |
DE102016212262A1 (de) * | 2016-07-05 | 2017-06-22 | Carl Zeiss Smt Gmbh | Anordnung zur Positionsregelung einer Spiegelanordnung |
DE102016216188A1 (de) | 2016-08-29 | 2018-03-01 | Carl Zeiss Smt Gmbh | Steuereinrichtung |
US10282630B2 (en) * | 2017-03-08 | 2019-05-07 | Raytheon Company | Multi-channel compressive sensing-based object recognition |
CN114660880A (zh) * | 2022-04-11 | 2022-06-24 | 长沙沃默科技有限公司 | 一种反射式投影成像装置及其设计方法 |
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WO2013120926A1 (en) * | 2012-02-17 | 2013-08-22 | Carl Zeiss Smt Gmbh | Optical component |
EP2687906A2 (de) * | 2013-11-21 | 2014-01-22 | Carl Zeiss SMT GmbH | Einrichtung und Verfahren zur Steuerung der Positionierung eines verlagerbaren Einzelspiegels |
DE102012218219A1 (de) * | 2012-10-05 | 2014-04-10 | Carl Zeiss Smt Gmbh | Verfahren zur Regelung der Verkippung eines Spiegelelements |
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DE10138313A1 (de) | 2001-01-23 | 2002-07-25 | Zeiss Carl | Kollektor für Beleuchtugnssysteme mit einer Wellenlänge < 193 nm |
US8102410B2 (en) * | 2005-10-26 | 2012-01-24 | Micronic Mydata AB | Writing apparatuses and methods |
EP2511765B1 (de) * | 2007-02-06 | 2019-04-03 | Carl Zeiss SMT GmbH | Regelvorrichtung zur Regelung einer flächigen Anordnung individuell ansteuerbarer Strahlablenkungselemente in einer mikrolithographischen Projektionsbelichtungsanlage |
JP2009272683A (ja) * | 2008-04-30 | 2009-11-19 | Toshiba Corp | 無線通信装置 |
JP5355699B2 (ja) | 2008-10-20 | 2013-11-27 | カール・ツァイス・エスエムティー・ゲーエムベーハー | 放射線ビームを案内するための光学モジュール |
DE102010061790A1 (de) | 2010-11-23 | 2012-05-24 | Robert Bosch Gmbh | Digitale Ansteuerung für ein mikro-elektromechanisches Element |
DE102011006100A1 (de) | 2011-03-25 | 2012-09-27 | Carl Zeiss Smt Gmbh | Spiegel-Array |
DE102012201509A1 (de) | 2012-02-02 | 2013-08-08 | Zf Friedrichshafen Ag | Kupplungsanordnung und Dichtelement |
DE102013201506A1 (de) * | 2012-02-17 | 2013-08-22 | Carl Zeiss Smt Gmbh | Optisches Bauelement |
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WO2013120926A1 (en) * | 2012-02-17 | 2013-08-22 | Carl Zeiss Smt Gmbh | Optical component |
DE102012218219A1 (de) * | 2012-10-05 | 2014-04-10 | Carl Zeiss Smt Gmbh | Verfahren zur Regelung der Verkippung eines Spiegelelements |
EP2687906A2 (de) * | 2013-11-21 | 2014-01-22 | Carl Zeiss SMT GmbH | Einrichtung und Verfahren zur Steuerung der Positionierung eines verlagerbaren Einzelspiegels |
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