Patent ID: 6438458
Filing Date: 2002-08-20
Classification: G05B,Y02P,Y10S

Abstract:
A substrate conveying system, comprising:a robot arm with substrate holding means for holding a substrate, said robot arm being operable to move said substrate holding means to a predetermined position to enable transfer of the substrate; and control means for controlling movement of said substrate holding means to said predetermined position, said control means having at least one axis and being operable to control the movement of said substrate holding means related to said at least one axis, with respect to at least four, first to fourth, positions, wherein the first position is a movement start position where the movement of said substrate holding means is to be started, wherein the second position is a first speed changing position where a movement speed of said substrate holding means is to be changed from a first set speed to a second set speed, wherein the third position is a second speed changing position where the movement speed of said substrate holding means is to be changed from the second set speed to the first set speed, and wherein the fourth position is a movement completion position where the movement of said substrate holding means is to be completed.