Pin control method
A pin control method includes: measuring respective height positions of a plurality of pins, which is vertically driven respectively by a plurality of driving units while supporting a substrate; selecting a reference pin, which serves as a reference for speed control, from the plurality of pins using the measured height positions of the plurality of pins; estimating, with respect to the selected reference pin, a reference height position, which is a height position after a predetermined time has passed since the height positions of the plurality of pins were measured; calculating an adjustment speed for making the height positions of the pins other than the reference pin match with the estimated reference height position; controlling the driving units, which drive the other pins, to adjust driving speeds of the other pins to the adjustment speed.
1. A pin control method comprising:
measuring respective height positions of a plurality of pins, which is vertically driven respectively by a plurality of driving units while supporting a substrate;
selecting a reference pin, which serves as a reference for speed control, from the plurality of pins using the measured height positions of the plurality of pins;
estimating, with respect to the selected reference pin, a reference height position, which is a height position after a predetermined time has passed since the height positions of the plurality of pins were measured;
calculating an adjustment speed for making the height positions of the pins other than the reference pin match with the estimated reference height position; and
controlling the driving units, which drive the other pins, to adjust driving speeds of the other pins to the adjustment speed.
2. The method according to claim 1 , wherein the selecting includes selecting, as the reference pin, a pin having a lowest height position or a highest height position, from the plurality of pins when the measured height positions of the plurality of pins do not match with each other.
3. The method according to claim 1 , wherein the estimating includes calculating a driving speed of the reference pin at a measurement timing where the height positions of the plurality of pins are measured, based on a passed time from start of driving of the plurality of pins by the plurality of driving units to the measurement timing and the height position of the reference pin measured at the measurement timing; and estimating the reference height position based on the calculated driving speed of the reference pin, the predetermined time, and the height position of the reference pin measured at the measurement timing.
4. The method according to claim 1 , wherein the measuring includes newly measuring the respective height positions of the plurality of pins whenever the predetermined time has passed since the height positions of the plurality of pins were measured last time, and
the selecting, the estimating processing, and the adjusting processing are repeatedly executed until the newly measured height positions of the plurality of pins match with each other.
5. The method according to claim 4 , wherein the adjusting includes controlling the driving units, which drive the other pins, to adjust the driving speeds of the other pins to a driving speed of the reference pin when the height positions of the plurality of pins match with each other.
6. The method according to claim 1 , wherein the height positions of the plurality of pins are positions of tip ends of the plurality of pins on the basis of a placement surface of a placement table for the substrate or a reference surface that is lower than the placement surface by a predetermined distance.