Patent ID: 9082798
Filing Date: 2015-07-14
Classification: H01L

Abstract:
1. A substrate collecting method for withdrawing a substrate by a transfer arm, the method comprising: a substrate peripheral portion detecting step for detecting a peripheral portion of the substrate, which is a target to be withdrawn, based on output images from a plurality of imaging units disposed along a peripheral portion shape of the substrate; a substrate position deviation correcting step for, when the peripheral portion of the substrate can be detected by at least one imaging unit, acquiring a positional deviation from a preset reference position based on a horizontal position of the substrate obtained from a shape of the detected peripheral portion, and correcting the positional deviation by moving the substrate in a horizontal direction if the deviation exceeds a withdrawable range; and a substrate collecting step for withdrawing the substrate by the transfer arm when the deviation does not exceed the withdrawable range, or when the deviation is reduced not to exceed the withdrawable range through the substrate position deviation correcting step.