Patent ID: 11908721
Assignee: BROOKS AUTOMATION US, LLC
Field: Semiconductors (Electrical engineering)
Classification: CPC H | IPC H

Claim 13:
14. A method comprising:
providing a substrate transport apparatus having an end effector configured to support a substrate;
providing a frame forming an enclosure arranged to hold a controlled environment therein and having at least a first enclosure feature, included in the controlled environment, with a predetermined relationship to a substrate station location; and
automatically teaching the substrate station location by determining the substrate holding location with at least one embedded pick/place command from embedded pick/place commands in a controller,
wherein the commanded transport of the substrate transport apparatus, from the at least one embedded pick/place command, effects:
confirmation of an eccentricity between the substrate and the end effector through interaction of the substrate, supported on the end effector, with the at least first enclosure feature, and
resolving a change in eccentricity to an eccentricity determinative of a location of the substrate holding location.