Patent ID: 9196518
Filing Date: 2015-11-24
Classification: H01L,Y10S

Abstract:
1. A method for determining a robot place location for a robot, the robot adapted to transport a substrate, the method comprising: moving a calibration fixture past one or more edge sensors along a calibration path, where the calibration path is offset from and substantially parallel to a nominal transport path; determining at least one robot location when an edge of the calibration fixture is sensed by at least one of the one or more edge sensors; determining at least one sensor location of the one or more edge sensors based on the at least one robot location; transporting the substrate along the nominal transport path past the one or more edge sensors to a target location; determining the robot place location based on the at least one sensor location; and placing the substrate at the target location with the robot located at the robot place location, wherein moving the calibration fixture, past one or more edge sensors along the calibration path offset from and substantially parallel to the nominal transport path, comprises moving the robot with a compound move.