Patent ID: 9111978
Filing Date: 2015-08-18
Classification: H01L

Abstract:
1. A collision preventing method for preventing a robot from colliding with a substrate during substrate unloading operation by the robot from a substrate carrier placed on a carrier table, comprising steps of: (a) measuring slot height from a predetermined reference value, slot pitch, and slot horizontality for at least some slots of the substrate carrier having a pair of slot sections where substrates are accommodated by means of measuring means having a sensor, (b) obtaining the slot horizontality and slot heights of each slot section on the basis of data obtained in step (a), and writing the thus-obtained data of the slot horizontality and the slot heights of each slot section into ID information storage provided on the substrate carrier by means of write means; (c) predetermining a reference height of the carrier table on which the substrate carrier is to be placed, placing, on the carrier table, the substrate carrier with data stored in its ID information storage in step (b), reading data from the ID information storage by means of the carrier table, and sending the predetermined reference height and the data obtained in step (b) to a host computer by means of the carrier table; (d) utilizing the host computer, determining an access position of the robot on the basis of the data sent thereto in step (c); and teaching the robot the access position; and (e) utilizing the robot with the data received in step (d), loading or unloading a substrate to or from the substrate carrier placed on the carrier table.