Method of controlling substrate transfer system

1 . A method of controlling a substrate transfer system, the substrate transfer system comprising:

an atmospheric transfer module;

a load lock module connected to the atmospheric transfer module and including a plurality of mounting parts on which substrates are able to be placed;

a vacuum transfer module connected to the load lock module;

a plurality of process modules connected to the vacuum transfer module and including a plurality of stages on which substrates are able to be placed;

a first transfer device disposed in the atmospheric transfer module and configured to be able to transfer substrates one by one between the atmospheric transfer module and the load lock module; and

a second transfer device disposed in the vacuum transfer module and configured to be able to simultaneously transfer a plurality of substrates between the vacuum transfer module and the load lock module and between the vacuum transfer module and the process modules,

the method of controlling the substrate transfer system transferring substrates by controlling the first transfer device and the second transfer device comprising:

a process of acquiring process module-specific substrate transfer positions for each of the plurality of process modules, wherein the process module-specific substrate transfer positions are substrate transfer positions of the mounting parts of the first transfer device for allowing the second transfer device to place substrates at centers of the stages, the second transfer device transferring substrates from the mounting parts of the load lock module to the stages of the process modules, and

a process of determining an instruction position at which the first transfer device transfers substrates to each of the mounting parts based on the process module-specific substrate transfer positions for each of the plurality of process modules, wherein the instruction position has smallest maximum value of distances between a plurality of process module-specific substrate transfer positions and the instruction position.

2 . The method of claim 1 , comprising a process of transferring, by the first transfer device, substrates to the determined instruction position.

3 . The method of claim 1 , comprising a process of transferring, by the first transfer device, substrates to the process module-specific substrate transfer positions corresponding to a first process module to which the second transfer device transfers substrates, among the plurality of process modules.

4 . The method of claim 3 , further comprising, when it is determined that the substrates are not able to be transferred to the first process module upon determining whether or not the substrates are able to be transferred to the first process module, and it is determined that the substrates are able to be transferred to a second process module different from the first process module upon determining whether or not the substrates are able to be transferred to the second process module:

a process of transferring, by the second transfer device, substrates to the second process module.

5 . The method of claim 3 , further comprising, when it is determined that the substrates are not able to be transferred to the first process module upon determining whether or not the substrates are able to be transferred to the first process module, and it is determined that the substrates are not able to be transferred to a second process module different from the first process module upon determining whether or not the substrates are able to be transferred to the second process module:

a process of transferring, by the second transfer device, substrates to the mounting parts of the load lock module; and

a process of transferring, by the first transfer device, substrates to process module-specific substrate transfer positions corresponding to the second process module.