Control device and control method
A control device includes a storage unit that stores therein first position information indicating relative positions between one reference processing unit selected from a plurality of processing units and the other non-reference processing units; a first calculation unit that drives the transfer device while a jig formed in the shape of a substrate is held on the transfer device, and calculates a first compensation value for compensating a position deviation between a transfer position of the jig on the transfer device with respect to the reference processing unit and a first transfer target position; and a second calculation unit that calculates a second compensation value for compensating a position deviation between a transfer position of the jig on the transfer device with respect to the non-reference processing unit and a second transfer target position based on the first compensation value and the first position information.
1. A control device of a substrate processing apparatus having a plurality of processing units for performing a process on a substrate and a transfer device for holding the substrate thereon and transferring the substrate into each processing unit, the control device controlling adjustment of a transfer position of the transfer device, the control device comprising:
a storage unit that stores therein first position information indicating relative positions between one reference processing unit selected from the plurality of processing units and the rest non-reference processing units;
a first calculation unit that drives the transfer device while a jig formed in the shape of the substrate is held on the transfer device, and calculates a first compensation value for compensating a position deviation between a transfer position of the jig on the transfer device with respect to the reference processing unit and a first transfer target position; and
a second calculation unit that calculates a second compensation value for compensating a position deviation between a transfer position of the jig on the transfer device with respect to the non-reference processing unit and a second transfer target position based on the first compensation value and the first position information.
2. The control device of claim 1 , wherein the transfer device has a plurality of arms for holding the substrate thereon,
the storage unit stores therein second position information indicating relative positions between the respective arms,
the first calculation unit calculates the first compensation value for each arm, and
the second calculation unit calculates the second compensation value for each arm of the transfer device with respect to the non-reference processing unit based on the first compensation value of each arm, the first position information and the second position information.
3. The control device of claim 2 , further comprising:
an input unit by which a first user input for selecting the reference processing unit from the plurality of processing units and a second user input for changing the selected reference processing unit are inputted.
4. The control device of claim 1 , wherein the transfer device has a plurality of arms for holding the substrate thereon,
the storage unit stores therein second position information indicating relative positions between the respective arms,
the first calculation unit calculates the first compensation value for one arm selected from the plurality of arms and the first compensation value for another arm based on the first compensation value of the selected one arm and the second position information, and
the second calculation unit calculates the second compensation value for each arm of the transfer device with respect to the non-reference processing unit based on the first compensation value of the selected one arm, the first position information and the second position information.
5. The control device of claim 1 , wherein a target is provided at a position within each processing unit, the position facing the substrate held on the transfer device, and
the first position information indicates relative positions between the target within the reference processing unit and the target within the non-reference processing unit.
6. A control method of a substrate processing apparatus having a plurality of processing units for performing a process on a substrate and a transfer device for holding the substrate thereon and transferring the substrate into each processing unit, the control method controlling adjustment of a transfer position of the transfer device, the control method comprising:
storing first position information indicating relative positions between one reference processing unit selected from the plurality of processing units and the rest non-reference processing units;
driving the transfer device while a jig formed in the shape of the substrate is held on the transfer device, and calculating a first compensation value for compensating a position deviation between a transfer position of the jig on the transfer device with respect to the reference processing unit and a first transfer target position; and
calculating a second compensation value for compensating a position deviation between a transfer position of the jig on the transfer device with respect to the non-reference processing unit and a second transfer target position based on the first compensation value and the first position information.
7. The control method of claim 6 ,
wherein a target is provided at a position within each processing unit, the position facing the substrate held on the transfer device, and
the first position information indicates relative positions between the target within the reference processing unit and the target within the non-reference processing unit.