Patent ID: 7313462
Filing Date: 2007-12-25
Classification: B01D,C25D,H01L

Abstract:
1. In a tool having (a) a plurality of stations for processing microfeature workpieces at known locations relative to a reference frame, (b) cassettes for holding workpieces at known locations relative to the reference frame, (c) an automated workpiece handling system with a robot having a base unit, an arm rotatably coupled to the base unit, and an end-effector rotatably coupled to the arm, and (d) a controller operatively coupled to the automated workpiece handling system, a method of calibrating the robot to the reference frame comprising: providing an initial rotational alignment value indicative of alignment of an arm axis of the arm to a first axis of the reference frame and providing an initial axial position value indicative of a location of the base unit along the first axis; operating the controller to execute a computer operable medium that automatically—