Substrate transfer device, substrate transfer method and recording medium
A device includes a substrate holding unit 25 configured to hold a substrate and be movable in a transversal direction to transfer the substrate from one module to another module; a first detecting unit 3 configured to detect a position of the substrate on the substrate holding unit 25 before the substrate holding unit 25 transfers the substrate into the another module after receiving the substrate from the one module; second detecting units 55 and 56 configured to detect a position deviation between a position of the substrate holding unit 25 , which is located at a temporary position set to transfer the substrate into the another module, and the temporary position; and a position determining unit 10 configured to determine a transfer position where the substrate is transferred into the another module based on the position of the substrate on the substrate holding unit 25 and the position deviation.
1. A substrate transfer device for moving a substrate from one module to another module, comprising:
a substrate holding unit configured to hold a substrate with a fork in the one module;
a first detecting unit configured to detect a holding deviation between a reference holding position and a position of the substrate on the fork of the substrate holding unit;
a transfer mechanism configured to transfer the substrate holding unit toward a temporary position in the other module, the temporary position being set to compensate for the holding deviation; and
a second detecting unit configured to detect a transferred position of the substrate holding unit in the other module,
a controller configured to calculate a compensation value based on a difference between the transferred position of the substrate holding unit and the temporary position of the substrate holding unit at the other module, and to adjust a position of the fork of the substrate holding unit based on the compensation value at the other module.
2. The substrate transfer device of claim 1 ,
wherein the temporary position is set based on the position of the substrate on the substrate holding unit by the controller, and
the controller is configured to determine, based on the transfer deviation, a position deviated from the temporary position as the transfer position.
3. The substrate transfer device of claim 1 ,
wherein the second detecting unit is configured to detect the position of the substrate holding unit on two horizontal axes which are orthogonal to each other.
4. The substrate transfer device of claim 1 ,
wherein the second detecting unit is provided in the other module to detect the position of the substrate holding unit.
5. The substrate transfer device of claim 4 ,
wherein the second detecting unit is provided at a carry-in opening of the substrate which is opened at the other module.
6. The substrate transfer device of claim 1 ,
wherein the second detecting unit is provided at the substrate holding unit.
7. The substrate transfer device of claim 1 ,
wherein the first detecting unit is composed of multiple sensors configured to detect a position of an edge portion of the substrate, which is held by the substrate holding unit, at different positions.
8. The substrate transfer device of claim 1 ,
wherein the other module comprises:
a mounting unit configured to hold a central portion of a rear surface of the substrate and rotate the substrate; and
a processing liquid supply nozzle configured to supply a processing liquid onto an edge portion of the substrate being rotated to perform a processing.
9. A substrate transfer method for moving a substrate from one module to another module, comprising:
holding a substrate with a fork of a substrate holding unit in the one module;
detecting, by a first detecting unit, a holding deviation between a reference holding position and a position of the substrate on the fork of a substrate holding unit;
moving a substrate holding unit holding the substrate toward a temporary position in the other module, the temporary position being set to compensate for the holding deviation;
detecting, by a second detecting unit, a transferred position of the substrate holding unit;
calculating, by the controller, a compensation value based on a difference between the transferred position of the substrate holding unit and the temporary position of the substrate holding unit at the other module;
adjusting a position of the fork of the substrate holding unit based on the compensation value at the other module.
10. A computer-readable recording medium having stored thereon computer-executable instructions that, in response to execution, cause a substrate transfer method as claimed in claim 9 to be performed in a substrate transfer device configured to hold a substrate by a substrate holding unit and transfer the substrate.