Patent ID: 9349629
Filing Date: 2016-05-24
CPC Classification: G05B,H01L

Claim Text:
1. A method comprising: moving an end effector, in a semiconductor process tool, with one or more aligning surfaces towards an aligning base until all of the one or more aligning surfaces are contacting the aligning base at the same time, wherein the one or more aligning surfaces are protrusions extending away from a first surface of the end effector; measuring a torque value applied by a motor operable to move the end effector; detecting contact of all of the one or more aligning surfaces with the aligning base from the torque value; determining, by a processor, a placement coordinate of the end effector when all of the one or more aligning surfaces are contacting the aligning base at the same time; and determining, by the processor, a substrate transfer position for the end effector using the placement coordinate.