Patent ID: 9117870
Filing Date: 2015-08-25
Classification: H01L

Abstract:
1. A substrate carrier system, comprising: a plurality of carrier arms each having a midpoint between opposing ends of the carrier arm, the plurality of carrier arms further having at least one respective substrate carrier mounted on each end of the carrier arm, a hub including a plurality of concentrically mounted drives, each of the plurality of drives being coupled near the midpoint of a respective one of the plurality of carrier arms, the plurality of drives being configured to move respective ones of the plurality of carrier arms in at least a full 360° arc in either direction simultaneously, each of the plurality of drives further configured to be controlled independently of the remaining plurality of concentrically mounted drives; and a respective drive motor coupled to each of the concentrically mounted drives and configured to move the coupled carrier arm in a rotary manner, wherein each of the drive motors is programmed with a respective velocity profile, and wherein (i) each of the respective velocity profiles includes predetermined variations in velocity and (ii) each of the respective velocity profiles is a same velocity profile that is temporally offset from each of the other respective velocity profiles.