Patent ID: 6323616
Filing Date: 2001-11-27
Classification: B25J,G05B,H01L

Abstract:
An apparatus for wafer handling comprising:(a) a carrier apparatus for conveying wafers in a wafer processing system;(b) wafer transfer apparatus for transferring wafers to and from said carrier apparatus and to and from a wafer pod apparatus, said wafer transfer apparatus including(i) first position sensing apparatus for sensing a position of a robotic component of said wafer transfer apparatus;(ii) second position sensing apparatus for detecting a location of an object;(c) a controller apparatus for directing operation of said apparatus for wafer handling, said controller apparatus including(i) first data storage apparatus containing approximate dimensions of said wafer handling apparatus for use in directing said carrier apparatus and said wafer transfer apparatus;(ii) teaching apparatus responsive to a signal from said first position sensing apparatus and said second position sensing apparatus for collecting precision location data for precision positioning of said wafer transfer apparatus; and(iii) control apparatus programmed for automatically directing said teaching apparatus and for using said first data storage apparatus and said precision data to direct said wafer transfer apparatus and said carrier apparatus to transfer wafers.