Patent ID: 11858147
Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
Field: Handling (Mechanical engineering)
Classification: CPC B  H  G | IPC B  H

Claim 1:
2. The substrate transfer robot of claim 1,
wherein a position in the hand vertically overlapping with a center of the substrate held by the hand is defined as a hand center, and
wherein the processor is further programmed to:
operate the robot so that the hand is advanced in the second direction to a substrate placement position in a posture in which the ideal optical axis extends in the first direction, the substrate being transferred from the hand to a substrate placing part at the substrate placement position;
operate the robot so that the hand is moved from the substrate placement position to a position in the second direction retreated by a distance obtained by adding (i) a radius of the substrate to (ii) a distance between the hand center and the ideal optical axis;
operate the robot so that the photoelectric sensor searches for an edge of the substrate while advancing and retreating the hand in the second direction;
obtain a position of the hand in the second direction when the hand is at the retreated position, as a reference position;
obtain a position of the hand in the second direction when the edge of the substrate is detected by the search, as a third detected position; and
detect a positional deviation of the optical axis from the ideal optical axis based on a difference between the reference position and the third detected position.