Stage device and a method of manufacturing same, a position controlling method, an exposure device and a method of manufacturing same, and a device and a method of manufacturing same

In a stage device, prior to two-dimensional movement of a stage, a first driving device disposed on a side of the stage where an object is loaded drives the stage in a first-axis direction, and a second driving device disposed on a side of the stage opposite to the side where the object is loaded drives the stage in a second-axis direction that is different from the first-axis direction. Thus, the stage is moved in two-dimensional directions. Therefore, in order to perform two-dimensional movement of the stage, a structure is possible in which each driving device is defined as a one-dimensional driving device, and in which one driving device is not driven by another driving device. Therefore, it is possible to move the object at high speed and to accurately control the position of the object with a simple structure. By using the stage device in order to move the wafer or the like, an exposure device of high throughput and high accuracy can be realized.

BACKGROUND OF THE INVENTION
 1. Field of Invention
 This invention relates to a stage device and to a method of manufacturing a
 stage device. This invention also relates to a position controlling
 method, and to an exposure device and a method of manufacturing an
 exposure device. This invention also relates to a device made by the
 exposure device and to a method of manufacturing such a device. More
 specifically, this invention relates to a stage device that controls a
 position and posture of an object with a high degree of accuracy, and to a
 method of manufacturing the stage device. The invention also relates to a
 method of controlling a position of an object using the stage device. The
 invention further relates to an exposure device having the stage device,
 and to a method of manufacturing the exposure device. The invention
 further relates to a device, such as a micro-device, that is manufactured
 by the exposure device, and to a method of manufacturing the device.
 2. Description of Related Art
 Conventionally, in a lithographic process to manufacture a semiconductor
 element, a liquid crystal display element, or the like, an exposure device
 has been used that transfers a pattern formed on a mask or a reticle
 (hereafter referred to as "reticle") onto a substrate such as a glass
 plate or a wafer, where a resist or the like is coated, through a
 projection optical system.
 In this type of exposure device, in order to position a wafer (or other
 substrate) at an exposure position with high accuracy, a stage device has
 been used to control a position and a posture in six degrees-of-freedom,
 such as X, Y, Z, .theta..sub.X, .theta..sub.Y, .theta..sub.Z, of a wafer
 holder that holds the wafer. On this type of stage device, conventionally,
 two X-axis driving linear motors, two Y-axis driving linear motors, and a
 stage driving guide are provided. These elements drive an X-Y stage in the
 two-dimensional X-Y direction, a .theta..sub.Z table loaded on this X-Y
 stage, and a three degrees-of-freedom leveling table, mounted on the
 .theta..sub.Z table, that drives a wafer holder that holds a wafer in
 three degrees-of-freedom such as Z, .theta..sub.X, and .theta..sub.Y
 (focusing and leveling). This stage device has a large number of moving
 parts, and a high thrust motor is needed as a linear motor in order to
 obtain the required speed. Furthermore, because the dimensions of the
 moving parts are large, the range of motion is also restricted.
 Recently, a stage device with a flat motor has been developed where
 positioning of a wafer table on which a wafer is loaded can be performed
 in three degrees-of-freedom directions such as X, Y, and .theta..sub.Z in
 a non-contact state. This enables a wafer to be positioned at high speed
 and with high accuracy without the effects of a mechanical guide surface.
 Additionally, a long life expectancy can be expected by avoiding
 mechanical friction. With respect to this stage device, a variable
 magnetic reluctance driving method has been suggested that combines two
 linear pulse motors of a variable magnetic reluctance driving method, such
 as Sawyer motors. Additionally, a stage device has been suggested that
 uses a flat motor as a driving device using a Lorentz electromagnetic
 driving method. These are disclosed in, for example, Japanese Patent
 Laid-Open Publication No. 58-175020 and U.S. Pat. No. 5,196,745.
 Furthermore, it has been suggested that the position and posture control
 of the wafer in the six degrees-of-freedom directions can be performed by
 using a stage on which a wafer is loaded that is driven in three
 degrees-of-freedom directions such as X, Y, .theta..sub.Z by a flat motor,
 and at the same time using a leveling table that can control a position
 and a posture of the substrate loaded on the stage in the remaining three
 degrees-of-freedom directions.
 Incidentally, as a device rule (practical minimum line width) becomes
 refined along with the high density of semiconductor elements, high
 resolution is increasingly requested as a performance capability of an
 exposure device. Because of this, the exposure wavelength has shortened.
 As an exposure device for the next generation and thereafter, it may be
 desirable to use vacuum ultraviolet (VUV) light with a wavelength of 200
 nm or less, X-rays in which the wavelength is even shorter, and charged
 particle beams, such as an electron beam, as an exposure energy beam. In
 this type of exposure device, when oxygen exists in the path of the energy
 beam, energy beam absorbing substances such as haze and ozone (O.sub.3)
 occur due to photochemical reactions, or an energy beam is directly
 absorbed by air particles. Therefore, it is necessary to replace air with
 nitrogen N.sub.2, helium He, or the like, or use a vacuum environment.
 However, in the stage device using the above-mentioned flat motor, because
 of the characteristics of the device, the stage device cannot be used in a
 non-air environment because the stage is floated and supported in a
 non-contact state by using an air bearing or the like.
 Additionally, a large wafer has been recently developed, and a stage device
 with a large driving force has been expected in order to move the wafer.
 SUMMARY OF THE INVENTION
 This invention is made in consideration of the above-mentioned
 circumstances. A first object is to provide a stage device that can move a
 loaded object at high speed and perform positioning control with high
 accuracy.
 A second object of this invention is to perform positioning control with
 high accuracy when moving the object at high speed.
 A third object of this invention is to provide an exposure device that can
 improve the exposure accuracy and throughput by moving a substrate at high
 speed and controlling the position of the substrate with high accuracy.
 A fourth object of this invention is to provide a device (e.g., a
 micro-device) where a fine pattern is accurately formed as throughput is
 improved.
 A first aspect of the invention relates to a stage device that controls the
 position of an object that has been loaded, having a stage, a first
 driving device, and a second driving device. The stage has a loading face
 on which an object is loaded. The first driving device drives the stage in
 a first-axis direction within a plane substantially parallel to the
 loading face, and is disposed on the loading face side of the stage. The
 second driving device drives the stage in a second-axis direction that
 crosses the first-axis direction within a plane substantially parallel to
 the loading face.
 According to this aspect of the invention, the first driving device, which
 is disposed on the object loading face side of the stage, drives the stage
 in the first-axis direction, and the second driving device, which is
 disposed on the side of the stage opposite the object loading face side,
 drives the stage in the second-axis direction and moves the stage
 two-dimensionally. Therefore, a structure is possible where one driving
 device is not driven by another driving device, by taking each driving
 device as a one-dimensional driving device, so the object can be moved at
 high speed and positioning of the object can be accurately controlled with
 a simple structure.
 In this case, both the first- and second-axis directions can be directions
 that are perpendicular to each other. In this case, thrust in other
 driving directions is not generated by driving one of the first and second
 driving devices, so both driving devices can be independently operated.
 Therefore, the stage can be arbitrarily moved two-dimensionally by a
 simple control.
 In the stage device of this aspect of the invention, the first driving
 device can be structured to have a first movable element disposed on the
 loading face of the stage and a first stationary part facing toward the
 first movable element. In this case, the stage can be driven in the
 first-axis direction by driving the first movable element toward the first
 stationary part in the first-axis direction.
 The first movable element can have a first magnetic pole unit and the first
 stationary part can have a first armature unit. The first driving device
 can drive the first movable element in the first-axis direction by
 electromagnetic interactions (attraction or repulsion) between the first
 magnetic pole unit and the first armature unit, in which current is
 supplied. In this case, the first movable element is driven by
 electromagnetic interaction that has excellent controllability and
 linearity, so the stage, and therefore the object that has been loaded on
 the stage, can be moved at high speed and position controlling can be
 accurately performed with respect to the first-axis direction.
 Furthermore, the material of the stage can be a non-magnetic material. In
 this case, the non-magnetic material is usually lighter than the magnetic
 material in terms of relative density, so the stage can be made
 light-weight. Magnetic material refers to material with sufficiently large
 permeability compared to air, and non-magnetic material refers to material
 with sufficiently small permeability compared to a magnetic material, such
 as iron, that is substantially equal to air.
 In addition, in the first driving device that generates a driving force by
 the electromagnetic interaction, the first magnetic pole unit can be
 structured so as to generate an alternating field that changes by a first
 cycle along the first-axis direction between the first magnetic pole unit
 and the first armature unit. In this case, the first magnetic pole unit
 can be continuously driven in the first-axis direction.
 The first magnetic pole unit can be structured by a plurality of magnets
 that are arrayed in the first-axis direction and magnetized in a direction
 that is not perpendicular to the loading face. In this case, when
 structuring the first magnetic pole unit that forms a stable magnetic
 circuit with low magnetic resistance, the magnetic pole unit can be
 structured by magnets only, so that the weight of the movable element can
 be reduced.
 Furthermore, needless to say, the first magnetic pole unit can be
 structured by a plurality of magnets that are arrayed in the first-axis
 direction so that the polarities of the magnetic pole faces that face
 toward the first armature unit are alternated, and are magnetized in a
 direction that is substantially perpendicular to the loading face. In this
 case, in order to form a stable magnetic circuit with low magnetic
 resistance, it is preferable to further have a magnetic body member
 structured by a magnetic material that supports the plurality of magnets
 between the facing face and the opposite side of the first armature unit.
 In the first driving device where the first magnetic pole unit generates an
 alternating field, the first armature unit has a current path along a
 plane parallel to the loading face and includes a coil row structured by a
 plurality of armature coils arrayed in the first-axis direction. In the
 coil row, M (M is an integer that is 2 or more) types of current paths are
 arrayed per length of the first cycle along the first-axis direction. The
 first driving device further has a first current supply that supplies a
 cyclic current having mutually different phases for the respective M types
 of the current paths. In this case, in response to movement in the
 first-axis direction of the first magnetic pole unit, as the current
 supply supplies current to the respective armature coils facing toward the
 first magnetic pole unit, the first magnetic pole unit can be continuously
 driven at a specified driving force in the first-axis direction. In
 addition, the direction and size of the driving force applied to the first
 magnetic pole unit can be controlled by the direction and the size of the
 current supplied by the current supply to the respective armature coils.
 Furthermore, if the width of the current path in the first-axis direction
 of the respective armature coils is substantially 1/M of the first cycle,
 the phase difference of the current that is supplied to the adjacent
 armature coils can be made to be a constant value that is (2.pi./M), so
 that driving control can be easy.
 Here, the armature coils can have a flat polygon shape. In this case,
 because the current path of other coils can be arranged at a position
 corresponding to an empty position (a central void) of the coil, the
 current contributing to the generation of the driving force can be
 supplied in a plane without any unused spaces, and a large driving force
 can be generated. Particularly, when the shape of the armature coil is a
 flat hexagon, the processing can be easily performed to make a shape where
 the armature coils can be arrayed in a one-dimensional direction without
 any spaces between the current paths by overlapping parts of the coils.
 The first driving device with a coil row further has a flat coil support
 member that supports the coil row on a side of the coil row that is
 opposite to the side facing the first magnetic pole unit of the coil rows.
 In this case, because shape alteration of the coil row and the armature
 coils can be prevented, the first magnetic pole unit can be stably driven.
 Here, it is possible to structure the coil support member from a magnetic
 material, and it is also possible to structure the coil support member
 from a non-magnetic material. If the coil support member is structured
 from a magnetic material, the component of the magnetic flux density at
 the alignment position of the armature coils in the direction that is
 perpendicular to the face of the stage where the object is loaded can be
 made to be large, and the driving force of the first magnetic pole unit
 can be made to be large in the first-axis direction. If the coil support
 member is structured from a non-magnetic material, the size of the
 component of the magnetic flux density at the alignment position of the
 armature coil in the direction parallel to the face of the stage where the
 object is loaded can be kept large, and the contribution to the magnetic
 floating of the stage, discussed later, can be enlarged.
 Furthermore, in the first driving device with the coil row, the first
 magnetic pole unit generates a magnetic induction flux having a first
 component in a direction perpendicular to the loading face, that
 cyclically changes by a first cycle along the first-axis direction in the
 alignment face of the coil row facing the first magnetic pole unit, and a
 second component in a direction perpendicular to the first-axis direction
 along the plane parallel to the loading face. The first current supply
 supplies a superimposed current to the armature coil, in which a first
 current that has an electromagnetic interaction with the first component
 drives the movable element in the first-axis direction, and a second
 current that has an electromagnetic interaction with the second component
 drives the movable element in the direction perpendicular to the loading
 face.
 Accordingly, the first magnetic pole unit, that is, the stage, can be
 driven in the first-axis direction by electromagnetic interaction of the
 current that is supplied to the armature coil and the magnetic induction
 flux generated by the first magnetic pole unit. At the same time, it (the
 stage) is floated and driven in the direction perpendicular to the loading
 face. Therefore, it is not necessary to use an air bearing or the like, so
 it is possible to drive the stage in the first-axis direction when the
 stage is floated and supported even when the object is disposed under a
 non-air environment such as a vacuum environment.
 Additionally, the stage device of this invention can be structured by
 further having a first reaction force cancellation mechanism that applies
 a force to cancel reaction forces that act on the first stationary part
 due to driving of the first movable element toward the first stationary
 part by the electromagnetic interaction. In this case, by electromagnetic
 interaction that has excellent controllability and linearity, the first
 reaction force cancellation mechanism generates a force to cancel the
 reaction force that acts on the first stationary part and applies it to
 the first stationary part, so it is possible to accurately cancel the
 reaction force that acts on the first stationary part. Therefore, it is
 possible to control the position of the stage with high accuracy when the
 stage is moved at high speed.
 Furthermore, in the stage device of this invention, various embodiments of
 the structure of the first driving device, described earlier, can be
 applied to the second driving device as well. That is, the second driving
 device can be structured by having a second movable element disposed on a
 face of the stage that is opposite to the loading face of the stage, and a
 second stationary part that is opposite to the second movable element. The
 structure of various embodiments concerning the first movable element and
 first stationary part described above can be applied to the second movable
 element and the second stationary part, respectively, as well.
 Furthermore, in the stage device of this aspect of the invention, the
 second driving device can be structured by further having a second
 reaction force cancellation mechanism that applies a force to cancel the
 reaction force that acts on the second stationary part due to driving the
 second movable element, to the second stationary part, by electromagnetic
 interaction. In this case, in the same manner as the case of the first
 reaction force cancellation mechanism, the reaction force that acts on the
 second stationary part can be accurately canceled, so it is possible to
 control the position of the stage with high accuracy when the stage is
 moved at high speed.
 Furthermore, in the stage device of this aspect of the invention, the first
 driving device has a first movable element disposed on a first area of the
 loading face of the stage in the vicinity of the area where the object is
 loaded, and a first stationary part facing toward the first movable
 element, and the second driving device has a second movable element
 disposed on a second area on the rear face of the stage, that is opposite
 the loading face, and a second stationary part facing the second movable
 element. In this case, the first movable element is driven in the
 first-axis direction with respect to the first stationary part, and the
 second movable element is driven in the second-axis direction with respect
 to the second stationary part, so the stage can be arbitrarily driven
 two-dimensionally.
 Here, the second area can be considered as a corresponding area of the
 first area, but on the rear face. In this case, the first area can be
 defined as two areas on either side of the area where the object is loaded
 on the loading face of the stage. Furthermore, as used herein, the
 corresponding area on the rear face refers to the area of the rear face
 that has a front-to-back relationship with the area on the loading face.
 Furthermore, the second area can be defined as an area including an area
 other than a corresponding area of the first area on the rear face. In
 this case, the first area can be defined as two areas on either side of
 the area on which the object is loaded on the loading face of the stage,
 and the second area can be defined as an area including the area on the
 rear face corresponding to the area on the loading face where the object
 is loaded. Thus, the second area can be defined as an area that does not
 correspond to the first area on the rear face. In this case, the first
 area can be defined as areas positioned on both sides of the area where
 the object is loaded, in a third-axis direction within a plane
 substantially parallel to the loading face, and the second area can be
 defined as areas positioned on both sides of a corresponding area of the
 area where the object is loaded on the rear face in a fourth-axis
 direction crossing the third-axis direction within a plane substantially
 parallel to the loading face.
 Furthermore, the stage device of this aspect of the invention can also
 include a position detection device that detects the position of the stage
 and a controlling device that controls the first and second driving
 devices based upon the detection result by the position detection device.
 In this case, while the controlling device selectively supplies current to
 the armature coils facing toward the first or second magnetic pole unit,
 it is possible to supply the current more effectively by performing
 current control such that the current is not supplied to the armature coil
 that only generates a weak Lorentz electromagnetic force, or that does not
 generate a Lorentz electromagnetic force, through electromagnetic
 interaction, and the current consumed can be decreased while maintaining
 the driving force.
 Furthermore, in the stage device of this aspect of the invention, when at
 least one of the first driving device and the second driving device has a
 magnetic pole unit and an armature unit that mutually cooperate to drive
 the stage, the stage device can include an origin position obtaining
 device. The origin position obtaining device determines an origin position
 in the position relationship between the armature unit and the magnetic
 pole unit. In this case, based upon the origin position in the position
 relationship between the magnetic pole unit and the armature unit
 determined by the origin position obtaining device, by controlling the
 phase that is supplied to the armature coil and driving the stage,
 position control of the stage with high accuracy can be performed at a
 high driving force.
 A second aspect of this invention relates to a method of controlling a
 position of an object that is loaded on a stage. The method includes the
 steps of driving the stage in a first-axis direction in a plane
 substantially parallel to the loading face from the loading face side of
 the stage, and driving the stage in a second-axis direction that crosses
 the first-axis direction in a plane substantially parallel to the loading
 face from the side of the stage opposite the loading face side.
 According to this aspect of the invention, driving the stage in the
 first-axis direction is performed from the object loading face of the
 stage, and driving the stage in the second-axis direction is performed
 from the side of the stage opposite the object loading face side.
 Therefore, controlling the position of the object can be accurately
 performed, and the object can be moved at high speed using a simple
 structure.
 Furthermore, by simultaneously performing the first and second steps,
 driving the object in an arbitrarily two-dimensional direction can be
 performed.
 In the method of controlling the position of the stage in this aspect of
 the invention, driving the stage can include a step of returning-to-origin
 that determines an origin position in the position relationship between
 the magnetic pole unit and the armature unit, through cooperation between
 the armature unit and the magnetic pole unit. In this case, stage driving
 is controlled using the origin position that was determined by the
 returning-to-origin step as a reference. Therefore, highly accurate
 position control of the stage can be performed at a high driving force.
 A third aspect of this invention relates to a method of manufacturing a
 stage device that controls a position of an object that has been loaded
 thereon. The method includes a first step of providing a stage on which to
 load the object, a second step of disposing a first driving device that
 drives the stage in a first-axis direction in a plane substantially
 parallel to the loading face, and a third step of disposing a second
 driving device that drives the stage in a second-axis direction that
 crosses the first-axis direction in the plane substantially parallel to
 the loading face. According to this aspect of the invention, as the first
 through third steps are performed, by combining other parts mechanically,
 electrically, and optically, and adjusting, as needed, a stage device of
 this invention can be manufactured.
 The first step can include a first sub-step of disposing a first movable
 element, that is a structural element of the first driving device, on the
 loading face of the stage, and a second sub-step of disposing a first
 stationary part, that is a structural element of the first driving device,
 opposite the first movable element. The second step can include a third
 sub-step of disposing a second movable element, that is a structural
 element of the second driving device, on a face on the opposite side of
 the loading face of the stage, and a fourth sub-step of disposing a second
 stationary part, that is a structural element of the second driving
 device, opposite the second movable element. In this case, as the first
 movable element is driven in the first-axis direction with respect to the
 first stationary part, and the second movable element is driven in the
 second-axis direction with respect to the second stationary part, a stage
 device that can drive the stage in an arbitrary two-dimensional direction
 can be manufactured.
 In the method of manufacturing the stage device of this invention, when at
 least one of the first driving device and the second driving device has a
 magnetic pole unit and an armature unit that drive the stage by
 electromagnetic interaction, a fourth step of providing a return-to-origin
 device (also referred to as an "origin detection device") can be included.
 The return-to-origin device determines the origin position in the position
 relationship between the armature unit and the magnetic pole unit. In this
 case, based upon the origin position that has been determined by the
 return-to-origin device, a stage device that can control the position of
 the stage with high accuracy at a high driving force can be manufactured.
 A fourth aspect of this invention relates to an exposure device having an
 optical system through which passes an exposure energy beam and a stage
 device of this invention on which an object disposed on the path of the
 energy beam can be loaded as an object. Here, the object can be a
 substrate that is exposed by the energy beam and to which a specified
 pattern can be transferred. Furthermore, in the case of the exposure
 device where a pattern formed in a mask is transferred, needless to say,
 the object can be the substrate, but the object can also be a mask.
 Furthermore, both the object and the substrate can be masks, and each can
 be respectively loaded on the stage device of this invention.
 According to this aspect of the invention, because the substrate or mask is
 loaded on the stage device of this invention and is exposed, controlling
 the position of the substrate or the mask can be performed with high
 accuracy and at high speed of movement, and both throughput and exposure
 accuracy can be improved.
 In the exposure device of this invention, the optical system can be, for
 example, a charged particle beam optical system having a charged particle
 beam lens barrel, and a magnetic shield to prevent the entrance of
 magnetic induction flux to the path of progression of the charged particle
 beam emitted from the charged particle beam lens barrel. In this case, the
 magnetic shield prevents the charged particle beam emitted from the
 charged particle beam lens barrel from being deflected in an unexpected
 direction by the effects of the magnetic force generated in the stage
 device. Accordingly, exposure can be performed with high accuracy by using
 a charged particle beam such as an electron beam or an ion beam.
 The magnetic shield can have a two-layer structure with an external barrel
 disposed at a specified clearance from the periphery of an internal
 barrel. It is also acceptable to form the external barrel with a small
 permeability compared to the internal barrel.
 Furthermore, the exposure device of this invention can have a structure
 where the optical system and the driving force generating member in the
 stage device can be independently mechanically disposed. In this case,
 because vibration generated by the driving force generating member is
 prevented from being transmitted to the optical system, exposure with high
 accuracy is possible.
 A fifth aspect of this invention relates to a method of manufacturing an
 exposure device including a first step of providing an optical system
 through which an exposure energy beam passes, and a second step of
 disposing the stage device of this invention on which an object is
 disposed in the path of the energy beam. According to this aspect of the
 invention, as the first and second steps are performed, by combining other
 parts mechanically, electrically and optically, and adjusting, an exposure
 device can be manufactured that has the stage device of this invention as
 a position controlling device that controls the position of an object.
 By using the above-mentioned exposure device of this invention in a
 lithographic process, a device with a fine pattern can be manufactured.
 Therefore, another aspect of this invention relates to a method of
 manufacturing a device (e.g., an integrated circuit or an LCD display),
 including a first step of preparing a substrate and a second step of
 exposing the substrate with an energy beam using the exposure device of
 this invention to transfer a specified pattern to the substrate.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS
 FIG. 1 shows a schematic structure of an exposure device 100 of a first
 embodiment. This exposure device 100 is a step-and-scan type of scanning
 exposure device, that is, a so-called scanning stepper. As discussed
 later, a projection optical system PL is disposed in this exposure device.
 The following explanation is given by defining the Z-axis as the optical
 axis (AX) of the projection optical system PL, the Y-axis as the direction
 in which a reticle R and a wafer W move relative to each other
 perpendicular to the Z-axis direction, and the X-axis as the direction
 that is perpendicular to the Z- and Y-axes.
 Exposure device 100 has an exposure device main body including an
 illumination optical system 10, a reticle stage RST that holds a reticle R
 as a mask, the projection optical system PL as an optical system, a main
 body column 43 that holds the projection optical system, and a stage
 device 30 that drives a wafer stage WST, and controllers for these
 components. The wafer stage WST is a stage that holds (and is capable of
 driving) a wafer W as a substrate (or an object) in six degrees-of-freedom
 directions such as X, Y, Z, .theta..sub.X, .theta..sub.Y, and
 .theta..sub.Z, or the like.
 In the exposure device main body, the internal temperature and humidity are
 adjusted with high accuracy. Additionally, the exposure device main body
 is stored in an environmental chamber, that is not depicted, and protected
 with high accuracy, and the chamber is filled with nitrogen N.sub.2. As an
 exposure light source of the exposure device, an ArF excimer laser light
 source, that is not depicted, is used, that generates pulsed ultraviolet
 light with a wavelength of 193 nm. This ArF excimer laser light source, a
 main controller 20, and a stage controlling system 19 are disposed in a
 service room with a lower degree of cleanliness, compared to a super-clean
 room where the exposure device 100 is disposed. The excimer laser light
 source is connected to the illumination optical system 10 through a beam
 matching unit, that is not depicted.
 The illumination optical system 10 includes an illumination equalizing
 optical system having a fly eye lens or the like, a relay lens, a variable
 ND (neutral density) filter, a reticle blind, a dichroic mirror, and/or
 the like (none of which are depicted). This type of structure of the
 illumination optical system is disclosed in, for example, Japanese Patent
 Laid-Open Publication No. 10-112433. After illumination light IL that was
 output from the illumination optical system 10 is reflected by a light
 bending mirror 7, it illuminates an illumination area part IAR (see FIG.
 14) in a slit state (e.g., rectangular or circular arc state) that is
 governed by a reticle blind on a reticle R on which a circuit pattern or
 the like is drawn, at a virtually uniform illuminance.
 The reticle R is fixed by, for example, electrostatic attraction on the
 reticle stage RST. In order to control the position of the reticle R, the
 reticle stage RST can be minutely (finely) driven by a reticle stage
 driving part, not depicted, having a two-dimensional actuator that is
 structured by a magnetic floating type of linear motor using a reaction
 force or a Lorentz force on the reticle base 47. The reticle stage driving
 part drives the reticle stage RST within the X-Y plane that is
 perpendicular to the optical axis IX (identical to the optical axis AX of
 the projection optical system PL discussed later) of the illumination
 optical system 10. Additionally, it is also possible to drive the reticle
 stage RST at a designated scanning speed in a specified scanning direction
 (the Y direction here). Furthermore, in this embodiment, because the
 magnetic floating type of two-dimensional linear actuator includes a
 Z-driving coil in addition to an X-driving coil and a Y-driving coil, it
 is possible to minutely drive in the Z direction. Additionally, the
 reticle base 47 forms a top plate part of a table 41 that forms a main
 body column 43, discussed later.
 The stationary part of the two-dimensional linear actuator that was
 discussed earlier is supported by a reaction frame, not depicted, disposed
 independently from the reticle base 47. Because of this, when the reticle
 stage RST is driven, the reaction force that acts on the stationary part
 of the two-dimensional linear actuator is transmitted to the ground
 (floor) by the reaction frame. Thus, the reaction force is not transmitted
 to the reticle base 47. The transmission of such reaction force to the
 ground (floor) through the reaction frame is disclosed in U.S. patent
 application Ser. No. 08/416,558, the disclosure of which is incorporated
 herein by reference.
 The position of the stage moving face of the reticle stage RST is
 constantly detected at, for example, approximately 0.5-1 nm resolution
 through a moving mirror 15 by a reticle laser interferometer (hereafter
 referred to as "reticle interferometer") 16, which functions as a position
 detection device that is fixed to the reticle base 47. The position
 information of the reticle stage RST from the reticle interferometer 16 is
 sent to the stage controlling system 19. Based upon the position
 information of the reticle stage RST, the stage controlling system 19
 drives the reticle stage RST through a reticle stage driving part (omitted
 in the drawings). In actuality, a moving mirror with a reflection face
 that is disposed orthogonally to the scanning direction (Y-axis direction)
 and a moving mirror with a reflection face that is disposed orthogonally
 to the non-scanning direction (X-axis direction) are arranged on the
 reticle stage RST, and one reticle interferometer 16 is disposed in the
 scanning direction and two reticle interferometers 16 are disposed in the
 non-scanning direction, but they are shown as a single representative
 moving mirror 15 and a single representative reticle interferometer 16 in
 FIG. 1.
 The projection optical system PL is disposed below the reticle stage RST in
 FIG. 1, and the direction of the optical axis AX (identical to the optical
 axis IX of the illumination optical system 10) is the Z-axis direction. A
 dioptric system is used that comprises a plurality of lens elements
 disposed at a specified distance along the optical axis AX direction in a
 double-telecentric optical arrangement. This projection optical system PL
 is a reduction optical system with a specified projection magnification,
 for example, 1/5 (or 1/4). Because of this, when the illumination area IAR
 of the reticle R is illuminated by the illumination light IL from the
 illumination optical system 10, by the illumination light IL that has
 passed through the reticle R, via the projection optical system PL, a
 reduced image (part-inverted image) of the circuit pattern of the reticle
 R within the illumination area IAR is formed in the exposure area IA (see
 FIG. 14) that is conjugate to the illumination area IAR on a wafer W whose
 surface is coated by photoresist.
 The main body column 43 includes a lens barrel panel 42 that is
 horizontally supported by a vibration control table 44 that is fixed to
 the floor, and a table 41 that is fixed to the top face of the lens barrel
 panel 42. An opening is formed in the center part of the lens barrel panel
 42. The opening is circular from the plan view, and the projection optical
 system PL is inserted into the opening from the upper direction. A flange
 48 is disposed in the center part of the height direction of the
 projection optical system PL, and the projection optical system PL is
 supported by the lens barrel panel 42 from the lower direction through the
 flange 48.
 The table 41 has four legs disposed in the vertical direction so as to
 surround the projection optical system PL on the top face of the lens
 barrel panel 42, and a top plate, that is, the reticle base 47, that
 mutually connects these four legs.
 The stage device 30 has a wafer stage WST that loads a wafer W, a base 21X
 disposed above the wafer stage WST, a base 21Y disposed below the wafer
 stage WST, a driving device 50X, which functions as a first driving device
 that drives the wafer WST in the X and Z directions, and a driving device
 50Y, which functions as a second driving device that drives the wafer
 stage WST in the Y and Z directions.
 A wafer holder (or chuck), not depicted, is provided on the wafer stage
 WST. The wafer W is held by this wafer holder due to electrostatic
 attraction, for example.
 Furthermore, the side face of the wafer stage WST is mirror processed so
 that a laser beam from the wafer laser interferometer (hereafter referred
 to as "wafer interferometer") 31, which is a position detection device,
 can be reflected therefrom. The position of the wafer W in the X-Y plane
 is constantly detected at, for example, approximately 0.5-1 nm resolution
 by the wafer interferometer 31 that is fixed to the vibration control
 table 44. Here, the position information (or speed information) of the
 wafer W is sent to the main controller 20 through the stage controlling
 system 19 from the wafer interferometer 31. In the stage controlling
 system 19, in response to an instruction from the main controller 20,
 based upon the position information (or speed information), the driving
 device 50X is controlled through a current driving device 22X, and the
 driving device 50Y is controlled through a current driving device 22Y.
 Additionally, in actuality, one wafer interferometer 31 is disposed in the
 scanning direction and two wafer interferometers are disposed in the
 non-scanning direction, but these are shown as a single representative
 wafer interferometer 31 in FIG. 1.
 Although not illustrated, the bases 21X and 21Y are attached to the ground
 via a vibration isolation system. Alternatively, the bases 21X and 21Y can
 be suspended from a lower surface of the lens barrel panel 42. In either
 case, reaction forces generated when the wafer stage WST is driven can
 cause undesired movement of the bases 21X and 21Y.
 Thus, the exposure device 100 of this embodiment has reaction force
 cancellation magnetic pole units 45X and 45Y. Reaction force cancellation
 magnetic pole unit 45X generates a magnetic field to apply a force to a
 stationary part 60X, which functions as a first stationary part of the
 driving device 50X, to cancel a reaction force that acts on the stationary
 part 60X. Reaction force cancellation magnetic pole unit 45Y generates a
 magnetic field to apply a force to a stationary part 60Y, which functions
 as a second stationary part of the driving device 50Y, to cancel a
 reaction force that acts on the stationary part 60Y. Here, the reaction
 force cancellation magnetic pole unit 45X generates a magnetic field to
 cancel the X component of the reaction force that acts on the stationary
 part 60X, and the reaction cancellation magnetic pole unit 45Y generates a
 magnetic field to cancel the Y component of the reaction force that acts
 on the stationary part 60Y. The structure of the reaction force
 cancellation magnetic pole units 45X and 45Y will be discussed later.
 Furthermore, in actuality, as shown in FIG. 2, reaction force cancellation
 magnetic pole units 45X1 and 45X2 are disposed in two respective corners
 that have a diagonal relationship among the four corners of the stationary
 part 60X, but these are shown as a single representative reaction force
 cancellation magnetic pole unit 45X in FIG. 1. In addition, the reaction
 force cancellation magnetic pole units 45Y1 and 45Y2 are disposed in the
 two respective corners that have a diagonal relationship among the four
 corners of the stationary part 60Y, but these are shown as a single
 representative reaction force cancellation magnetic pole unit 45Y in FIG.
 1.
 Also provided on the wafer stage WST is an undepicted reference mark plate
 on which various reference marks are formed for a base line measurement or
 the like to measure a distance from a detection center of an undepicted
 off-axis-type alignment detection system to the optical axis of the
 projection optical system PL.
 Also disposed in the exposure device 100 of FIG. 1 is a multi-point focus
 position detection system, which is a focus detection system of the
 diagonal incident light type. The multi-point focus position detection
 system detects the position in the Z direction (optical axis AX direction)
 of the part of the surface of the wafer W within the exposure area IA and
 the area in the vicinity of that part. This multi-point focus position
 detection system includes an irradiation optical system and a light
 receiving optical system, not depicted. The detailed structure of this
 multi-point focus position detection system is disclosed in, for example,
 Japanese Laid-Open Patent Publication No. 6-283403 and in U.S. Pat. No.
 5,448,332, which corresponds to that Japanese publication. The disclosures
 of the Japanese Laid-Open Patent Publication and of the U.S. patent are
 incorporated herein by reference.
 The driving device 50X includes a stationary part 60X that is embedded in
 the bottom face of the base 21X and movable elements 51X1 and 51X2, which
 function as first movable elements, that are fixed to the top surface (the
 face where the wafer W is loaded) of the wafer stage WST. Additionally,
 the driving device 50Y includes a stationary part 60Y that is embedded in
 the top face of the base 21Y and movable elements 51Y1 and 51Y2, which
 function as second movable elements, that are fixed to the bottom face
 (the rear (opposite) face relative to the face where the wafer W is
 loaded) of the wafer stage WST.
 Next, the structure of the driving devices 50X and 50Y and the structure of
 the reaction force canceling mechanism to cancel the reaction force that
 acts on the stationary parts 60X and 60Y are explained in detail,
 including the surrounding members.
 As shown in FIGS. 3A and 3B, the movable elements 51X1 and 51X2 of the
 driving device 50X are fixed, e.g., by adhesive on the wafer loading face
 of the wafer stage WST on two respective first areas that are areas
 located on either side of the area where the wafer W is loaded. Meanwhile,
 the movable elements 51Y1 and 51Y2 of the driving device 50Y are fixed,
 e.g., by adhesive to two respective second areas, which are areas
 corresponding to the first areas, on the bottom face of the wafer stage
 WST as shown in FIGS. 3A and 3B.
 As shown in FIGS. 4A and 4B, the movable element 51X1 is a magnetic pole
 unit formed by an array of permanent magnets 53XN, 53XS and 54X that
 extends in the X-axis direction. In the following explanation, this
 movable element is called a driving magnetic pole unit for convenience.
 The array that forms each driving magnetic pole unit 51X1 and 51X2 is also
 known as a wedge magnet array. The details of such wedge magnet arrays are
 disclosed, for example, in U.S. patent application Ser. No. 09/219,545,
 the disclosure of which is incorporated herein by reference in its
 entirety. Each wedge magnet array includes transverse magnets 54X and
 wedge magnets 53XN and 53XS. The transverse magnets 54X have magnetic
 polarities aligned parallel to the X-direction in FIGS. 4A and 4B. The
 wedge magnets 53XN and 53XS have magnetic polarities aligned at angles
 oblique relative to both the X-direction and the Z-direction. Preferably,
 the wedge magnets 53XN and 53XS are polarized at a 45.degree. angle
 relative to the X- and Z-directions.
 As can be appreciated from FIGS. 4A and 4B, the transverse magnets 54X are
 spaced at regular intervals along the X-axis and are oriented such that
 consecutive transverse magnets have alternating reversed magnetic
 polarities. The wedge magnets are disposed such that two wedge magnets
 53XN, 53XS adjacently flank two sides respectively of each transverse
 magnet 54X along the X-direction. Thus, two wedge magnets, both of which
 are of the type 53XN or 53XS, are located between consecutive transverse
 magnets 54X. Two adjacent wedge magnets 53XN define a permanent magnet
 group 52XN, whereas two adjacent wedge magnets 53XS define a permanent
 magnet group 52XS.
 In a preferred embodiment, all of the magnets 53XS, 53XN and 54X have a
 length LX1 in the Y-axis direction as shown in FIG. 4A. The transverse
 magnets 54X have a width in the X-axis direction of PX/2, while the wedge
 magnets 53XN and 53XS have a width in the X-axis direction preferably of
 PX/4. The X-Z cross-sectional shape of the wedge magnets 53XN and 53XS is
 trapezoidal, whereas the transverse magnets 54X have a rectangular X-Z
 cross-sectional shape.
 Individual wedge magnets 53XN and 53XS are disposed at opposite ends of the
 magnet array in the X-axis direction. The face of the wedge magnet 53XN or
 of the wedge magnet 53XS facing the stationary part 60X at either end is
 substantially an N pole face or an S pole face. Alternatively, the wedge
 magnets at each end of the array could be of the same type (i.e., both
 53XN or both 53XS).
 Thus, the driving magnetic pole unit 51X1 is structured by combining
 permanent magnets whose magnetic polarization direction is not the Z-axis
 direction, and yoke members are not used. By doing this, the weight of the
 driving magnetic pole unit 51X1 as a movable element is advantageously
 reduced.
 The driving magnetic pole unit 51X2 is structured in the same manner as the
 driving magnetic pole unit 51X1.
 As shown in FIGS. 5A and 5B, the driving magnetic pole unit 51Y1 is
 structured as a magnetic pole unit where permanent wedge magnets 53YN,
 53YS, and permanent transverse magnets 54Y are provided in an array
 extending in the Y-axis direction. Comparing FIGS. 5A and 5B with FIGS. 4A
 and 4B, the driving magnetic pole unit 51Y1 is structured in the same
 manner as the driving magnetic pole unit 51X1, except that the length of
 the magnets in the X-axis direction is LY1, while the wedge magnets
 preferably have a width of PY/4 and the transverse magnets preferably have
 a width of PY/2.
 The driving magnetic pole unit 51Y2 is structured in the same manner as the
 driving magnetic pole unit 51Y1.
 The schematic structure of the base 21Y including the stationary part 60Y
 and the base 21X including the stationary part 60X is shown in FIG. 6,
 which is a partially fragmented schematic sectional view. The base 21X has
 a container member 40X with a bottom, made from a non-magnetic material,
 where two steps are formed in the side walls of the inside part, and where
 the top face is open from the plan view and is a virtually square shape.
 The base 21X also has a flat magnetic member 62X, made from a magnetic
 material, disposed virtually parallel to and at a specified distance from
 the bottom face of the container member 40X, and a flat member 68X, made
 from a non-magnetic material such as ceramics, engaging from the upper
 direction with the upper step part in a state where the upper opening part
 of the container member 40X is closed. In part of the internal bottom face
 of the container member 40X, a cylindrical protruding part that has
 virtually the same height as the upper step part is integrally formed.
 Corresponding to this cylindrical protruding part, a circular opening with
 a larger diameter than the diameter of the protruding part is formed in
 the magnetic member 62X. Furthermore, in the flat member 68X, a circular
 opening is formed with the same diameter as the inside surface of the
 protruding part. In addition, the container member 40X has four legs
 extending vertically downward.
 On the lower face of the magnetic member 62X, coil rows 61X.sub.1
 -61X.sub.6 are disposed. As shown in FIG. 7, the coil rows 61X.sub.1
 -61X.sub.6 are arrayed in the Y-axis direction and are fixed to the bottom
 face of the magnetic member 62X by adhesive or the like. Furthermore, FIG.
 7 is upside down for drawing convenience. The coil rows 61X.sub.1
 -61X.sub.6 define a flat coil group 61X as an armature unit, and the
 stationary part 60X of the driving device 50X is structured by the flat
 coil group 61X and the magnetic body member 62X.
 Each coil row 61X.sub.1 -61X.sub.6 is structured in the same manner. As
 shown representatively by the coil row 61X.sub.1 in FIGS. 8A and 8B, M
 flat armature coils 63X.sub.1 -63X.sub.M are arrayed in the X-axis
 direction. Furthermore, FIG. 8A shows the appearance of the coil row
 61X.sub.1 seen from vertically above, and FIG. 8B shows the appearance of
 the coil row 61X.sub.1 seen in the +Y direction.
 Each armature coil 63X.sub.i (i=1-M) (hereafter, an arbitrary one is
 referred to as "armature coil 63X") is structured in the same manner, and
 a schematic structure is shown in FIGS. 9A-9C. Here, when the armature
 coil 63X is seen from vertically above, this is called a front view. The
 front view is shown in FIG. 9A, a right perspective view is shown in FIG.
 9B, and a plan view is shown in FIG. 9C. Furthermore, FIGS. 9A-9C show the
 case when the number of turns is three for drawing convenience, but,
 usually, because the wire is sufficiently thin compared to the width PX/3,
 the number of the turns could be larger than three.
 The armature coil 63X is structured as a flat coil with a hexagonal shape
 and a specified width in the front view, as clarified in FIGS. 9A-9C
 together. The wire 69 forms hexagons, the ends of which in the Y-axis
 direction are vertices, and has the width of PX/3 for each piece. The
 maximum width in the X-axis direction of the empty part (the empty center
 of the hexagon) is made to be substantially 2PX/3. Furthermore, as shown
 in FIG. 9A, the armature coil 63X has a virtually symmetrical shape.
 After the coil wire 69 is wound and coils are manufactured that have the
 shape of hexagons, the flat coil 63X that was described above is
 manufactured by pressing the coil to be flat.
 FIGS. 10A and 10B show the space current distribution when current is
 supplied to the respective armature coils 63X.sub.1- 63X.sub.M of the coil
 row 61X.sub.1 that is thus structured. Here, FIG. 10A shows a space
 current distribution seen from the upper vertical direction, and FIG. 10B
 shows the space current distribution in the B--B cross section of the coil
 row 61X.sub.1 in FIG. 10A. Furthermore, FIG. 10B shows the current
 supplied to each element by a leader line, and the description of element
 numbers is omitted.
 As shown in FIGS. 10A and 10B, if a current IX.sub.i is supplied in the +Y
 direction in the vicinity of the left side of the respective armature coil
 63X.sub.i (i=1-M), in the case of the armature coil 63X.sub.i, the current
 IX.sub.i * is supplied in the vicinity of the right side in the -Y
 direction. If this state is seen in a cross-section parallel to the X-Z
 plane, as shown in FIG. 10B, the vicinity of the left side of the armature
 coil 63X.sub.j (j=4-M) overlaps the vicinity of the right side of the
 armature coil 63X.sub.j-3 in the Z-axis direction (e.g., the left side of
 coil 63X.sub.4 overlaps the right side of coil 63X.sub.1), so a current
 IX.sub.j and a current IX.sub.j-3 * are supplied in the same X position in
 the center of the coil row 61X.sub.1. Therefore, because the respective
 armature coil 63X.sub.i is flat, if the Y-component of the current
 IX.sub.i is shown by IX.sub.i, it can be seen that the current of the
 Y-component (IX.sub.j -IX.sub.j-3) is supplied in the center, in the
 Y-axis direction, of the coil row 61X.sub.1.
 In order to prevent temperature increase of the surrounding members and the
 armature coils 63X.sub.1 -63X.sub.M along with the heat of the armature
 coils 63X.sub.1 -63X.sub.M due to the supply of current to the armature
 coils 63X.sub.1 -63X.sub.M and fluctuation of the surrounding atmosphere
 of the armature coils 63X.sub.1 -63X.sub.M, in this embodiment, cooling of
 the armature coils 63X.sub.1 -63X.sub.M is performed. This cooling is
 performed by making a closed space surrounded by the magnetic body member
 62X, the container member 40X, and the flat member 68X shown in FIG. 6 to
 be a passage for cooling liquid (coolant) to cool the armature coils
 63X.sub.1 -63X.sub.M of the flat coil group 61X. That is, on one side of
 the closed space, an inflowing passage, not depicted, is disposed, and an
 outflow passage (discharge port), not depicted, is disposed on the other
 side. A cooling liquid (for example, water or Fluorinert FC-77 (made by 3M
 Company, Minneapolis, Minn.)) from a cooling controlling machine, not
 depicted, is sent to the closed space through an inflow passage. When
 passing through the interior of the closed space, heat exchange is
 performed with the flat coil group 61X, and after absorbing the heat
 generated in the flat coil group 61X, the hot cooling liquid is discharged
 through the outflow passage.
 As shown in FIG. 6, the base 21Y has a container member 40Y made of a
 non-magnetic body material with four legs extending vertically upward and
 vertically downward, and is rectangular in plan view and has a two-step
 concave part formed therein, the top face of which is open. The base 21Y
 also has a flat non-magnetic body member 62Y made of a non-magnetic body
 material, such as ceramics, disposed in the center in the height direction
 that engages the lower step part of the container member 40Y from above,
 and a flat member 68Y made of a non-magnetic body material, such as
 ceramics, that is integrally fixed in a state such that the top opening of
 the container member 40Y is closed.
 On the top face of the non-magnetic body member 62Y, a flat coil group 61Y
 is disposed. As shown in FIG. 11, the flat coil group 61Y includes the
 coil rows 61Y.sub.1 -61Y.sub.6 arrayed in the X-axis direction and is
 fixed to the top face of the non-magnetic body member 62Y by adhesive. By
 these coil rows 61Y.sub.1 -61Y.sub.6, the flat coil group 61Y is
 structured as an armature unit. The stationary part 60Y of the driving
 device 50Y is structured by the flat coil group 61Y and the non-magnetic
 body member 62Y.
 In the respective coil rows 61Y.sub.1 -61Y.sub.6, N flat armature coils are
 structured in the same manner as the armature coil 63X (hereafter referred
 to as "armature coils 63Y.sub.1 -63Y.sub.N "). An arbitrary one of the
 armature coils 63Y.sub.1 -63Y.sub.N is called "armature coil 63Y." The N
 flat armature coils are arrayed in the Y-axis direction. Furthermore, the
 armature coil 63Y is different from the armature coil 63X because the
 width of the current path is PY/3 and the width of the empty center part
 of the armature coils 63Y.sub.1 -63Y.sub.N in the alignment direction
 (Y-axis direction) is 2PY/3.
 In the same manner as the armature coil 63X, after the coil wire 69 is
 wound and a coil forming the sides of a hexagon is manufactured, the
 armature coil 63Y is pressed flat.
 Furthermore, the current supply to the armature coils 63Y.sub.1 -63Y.sub.N
 causes temperature increase of the surrounding members and in the armature
 coils 63Y.sub.1 -63Y.sub.N due to the heat of the armature coils 63Y.sub.1
 -63Y.sub.N and the fluctuation of the surrounding atmosphere of the
 armature coils 63Y.sub.1 -63Y.sub.N. Thus, in order to prevent problems,
 cooling of the armature coils 63Y.sub.1 -63Y.sub.N is performed in this
 embodiment. In the same manner as the cooling of the armature coils
 63X.sub.1 -63X.sub.M, cooling is performed by making the closed space
 surrounded by the non-magnetic body member 62Y, the container member 40Y,
 and the flat member 68Y shown in FIG. 6 to be a passage for cooling liquid
 (coolant) to cool the armature coils 63Y.sub.1 -63Y.sub.N of the flat coil
 group 61Y.
 As shown in FIG. 12A, the reaction cancellation magnetic pole unit 45X1
 includes a support member 46X, a flat magnetic body member 47X, and two
 permanent magnets 48XN and 48XS.
 The support member 46X includes a flat L-shaped part virtually parallel to
 the flat member 68X and is disposed below the container member 40X, a
 first pillar extending vertically downward from one end of the flat
 L-shaped part, a second pillar extending vertically downward from another
 end of the flat L-shaped part, a first fixed part disposed at the lower
 end of the first pillar, and a second fixed part disposed at the lower end
 of the second pillar. Furthermore, the first and the second fixed parts
 are independently fixed to a floor or the like on which the entire device
 is supported. Because of this, the reaction cancellation magnetic pole
 unit 45X1 is mechanically independent from the other members that form the
 exposure device 100, such as the stationary part 60X.
 The magnetic body member 47X has a rectangular shape in plan view and is
 fixed, e.g., by adhesive to the face of the flat L-shaped support member
 46X facing toward the container member 40X, that is, the corners of the
 top face.
 The permanent magnets 48XN and 48XS have a rectangular shape, respectively,
 from the plan view, and the width in the X-axis direction is LX. The
 permanent magnets 48XN and 48XS are fixed by adhesive or the like to the
 face of the magnetic body member 47X facing toward the container member
 40X such that the permanent magnets 48XN and 48XS are aligned in the
 X-axis direction, and spaced at a distance DX. The relationship between
 the width LX, the distance DX and the width (PX/3) of the current path of
 the armature coil 63X is established as follows:
EQU LX+DX=PX (1)
 Furthermore, the face of the permanent magnet 48XN facing toward the
 container member 40X is an N pole face, and the face of the permanent
 magnet 48XS facing toward the container member 40X is an S pole face. As
 shown in FIG. 12B, the permanent magnets 48XN and 48XS face the current
 paths parallel to the Y-axis of the armature coils 63X.sub.1, 63X.sub.2,
 and 63X.sub.3 of the coil row 61X.sub.1. Furthermore, the permanent magnet
 48XN faces the current paths in which current is supplied in the +Y
 direction of the respective armature coils 63X.sub.1, 63X.sub.2, and
 63X.sub.3, while the permanent magnet 48XS faces the current paths in
 which current is supplied in the -Y direction of the respective armature
 coils 63X.sub.1, 63X.sub.2, and 63X.sub.3.
 In addition, the reaction cancellation magnetic pole unit 45X2 is
 structured in the same manner as the reaction cancellation magnetic pole
 unit 45X1.
 As shown in FIG. 13A, the reaction cancellation magnetic pole unit 45Y1
 includes a support member 46Y, a flat magnetic body member 47Y, and two
 permanent magnets 48YN and 48YS.
 The support member 46Y includes a flat L-shaped part that is virtually
 parallel to the flat member 68Y and is disposed above the flat member 68Y,
 a first pillar extending vertically downward from one end of the flat
 L-shaped part, a second pillar extending vertically downward from another
 end of the flat L-shaped part, a first fixed part disposed at the lower
 end of the first pillar, and a second fixed part disposed at the lower end
 of the second pillar. Furthermore, the first and second parts are
 independently fixed to the floor or the like. Because of this, the
 reaction cancellation magnetic pole unit 45Y1 is mechanically independent
 from the other members of the exposure device 100, such as the stationary
 part 60Y.
 The magnetic body member 47Y is fixed, e.g., by adhesive to the face of the
 flat L-shaped part of the support member 46Y facing toward the flat member
 68Y, that is, the corner of the lower face.
 The permanent magnets 48YN and 48YS have a rectangular shape, respectively,
 in plan view, and the width in the Y-axis direction is LY. The permanent
 magnets 48YN and 48YS are fixed by adhesive to the face of the magnetic
 body member 47Y facing toward the flat member 68Y so that they are spaced
 at a distance DY in the Y-axis direction. In addition, the relationship
 between the width LY, the distance DY and the width (PY/3) of the current
 path of the armature coil 63Y is established as follows:
EQU LY+DY=PY (2)
 Furthermore, the face of the permanent magnet 48YN facing toward the
 stationary part 60Y is an N pole face, and the face of the permanent
 magnet 48YS facing toward the stationary part 60Y is an S pole face. As
 shown in FIG. 13B, the permanent magnets 48YN and 48YS face the current
 paths parallel to the X-axis of the armature coils 63Y.sub.1, 63Y.sub.2,
 and 63Y.sub.3 of the coil row 61Y.sub.1. The permanent magnet 48YN faces
 the current paths in which current is supplied in the +X direction of the
 respective armature coils 63Y.sub.1, 63Y.sub.2, and 63Y.sub.3. The
 permanent magnet 48YS faces the current paths in which current is supplied
 in the -X direction of the armature coils 63Y.sub.1, 63Y.sub.2, and
 63Y.sub.3. Additionally, the permanent magnet 48YN also faces the current
 paths in which current is supplied in the +X direction of the respective
 armature coils 63Y.sub.4, 63Y.sub.5, and 63Y.sub.6 that overlap the
 current paths in which current is supplied in the -X direction of the
 respective armature coils 63Y.sub.1, 63Y.sub.2, and 63Y.sub.3.
 Additionally, the reaction cancellation magnetic pole unit 45Y2 is
 structured in the same manner as the reaction cancellation magnetic pole
 unit 45Y1.
 In the exposure device 100 of this embodiment, as shown in FIG. 14, the
 reticle R is illuminated by the rectangular (slit shape) illumination area
 IAR with its extending direction in a direction perpendicular to the
 scanning direction (Y-axis direction) of the reticle R. The reticle R is
 scanned at speed VR in the -Y direction during exposure. The illumination
 area IAR (the center is virtually coincident with the optical axis AX) is
 projected onto the wafer W through the projection optical system PL, and a
 slit projection area, that is conjugate to the illumination area IAR, that
 is, an exposure area IA, is formed. Because the wafer W has an inverted
 image-forming relationship with the reticle R, the wafer W is scanned at a
 speed V.sub.W, synchronized with the reticle R in the opposite direction
 (+Y direction). Thus, the entire face of the shooting area SA on the wafer
 W can be exposed. The ratio V.sub.W /V.sub.R of the scanning speed
 accurately corresponds to the reduction magnification of the projection
 optical system PL, and the pattern of the pattern area PA of the reticle R
 is accurately reduced and transferred to the shooting area SA on the wafer
 W. The width in the extending direction of the illumination area IAR
 preferably is longer than the pattern area PA on the reticle R, and is
 preferably smaller than the maximum width of the shaded area ST, so the
 entire face of the pattern area PA can be illuminated by scanning the
 reticle R.
 The following explains the operation of each part during the movement of
 the wafer W in this embodiment. First, a summary of the movement in the
 X-axis direction of the wafer W in this embodiment, that is, the driving
 principles of the driving magnetic pole units 51X1 and 51X2, that are
 movable elements of the driving device 50X, is explained with reference to
 FIGS. 15-20.
 Arrow lines in FIG. 15 show how the permanent wedge magnet groups 52XN and
 52XS are interrelated. In the driving magnetic pole unit 51X1, the
 permanent wedge magnet groups 52XN generate magnetic flux in the +Z
 direction (the upward direction in the drawing), and the permanent wedge
 magnet groups 52XS generate magnetic flux in the -Z direction (the
 downward direction in the drawing). Furthermore, although not depicted in
 FIG. 15, the permanent magnet 53XN at one end of the driving magnetic pole
 unit 51X1 generates magnetic flux in the +Z direction (the upward
 direction in the drawing), and the permanent magnet 53XS at the other end
 of the driving magnetic pole unit 51X1 generates magnetic flux in the -Z
 direction (the downward direction in the drawing). The wedge magnet groups
 52XS, 52XN, along with the transverse magnets 54X and the magnetic body
 member 62X, form a magnetic circuit.
 The operating principles of a planar motor according to the present
 invention may be more clearly understood by referring to FIGS. 15-18. FIG.
 15 is a cross-sectional elevation view relative to coordinate arrows X, Z
 showing a planar motor including the wedge magnet array containing wedge
 magnet groups 52XN.sub.1, 52XS.sub.2 and 52XN.sub.3. The planar motor also
 includes the coil array that is mounted on magnetic body member 62X. For
 purposes of simplicity, the coil array is illustrated as consisting of
 three wires 105, 106 and 107 all connected to a single-phase source of
 electric current. A three-phase motor, for example, includes two
 additional phases of wires (not shown).
 As shown in FIG. 16, wires 105, 106 and 107 are located directly above the
 magnet groups 52XN.sub.1, 52XS.sub.2 and 52XN.sub.3, respectively. A
 commutation circuit (not shown) controls and supplies electric current to
 wires 105, 106 and 107. In FIGS. 15 and 17, a solid dot on a wire
 indicates that electric current flows in the +Y direction out of the plane
 of the figure, whereas a cross on a wire indicates that electric current
 flows in the -Y direction into the plane of the figure. Thus, electric
 current on wires 105 and 107 flows into the plane of the figure, while the
 electric current on wire 106 flows out of the plane of the figure. The
 magnetic flux of the magnet array is indicated by the dashed lines on
 FIGS. 15 and 17, while the magnetic polarity is indicated by arrows. In
 the configuration shown in FIG. 15, those skilled in the art will
 recognize that according to the Lorentz law, the electromagnetic force
 acts on the coil array exclusively in the X direction. For convenience,
 this electric current configuration is designated "X current," or Ix. It
 should be noted that, in accordance with the laws of physics, each
 electromagnetic force component acting on the coil is balanced by an equal
 but oppositely directed electromagnetic force acting on the magnet array.
 As the magnet array moves laterally relative to the wires 105, 106 and
 107, the electric current Ix eventually drops to 0. Electric current Ix
 typically is supplied by the commutation circuit as a sinusoidal waveform,
 as shown graphically in alignment with the planar motor in FIG. 16.
 Although square wave commutation is sufficient in some planar motor
 embodiments, in other embodiments it is preferable to use a less abrupt
 and more gradual commutation waveform, such as sinusoidal, for precise
 motion and positioning of a stage. Positioning stages driven by linear
 motors are described in U.S. Pat. No. 5,528,118, the disclosure of which
 is incorporated herein by reference in its entirety.
 FIG. 17 is a cross-sectional elevation view showing the configuration of
 the planar motor at a later time in which the magnet array has moved such
 that the wires 106 and 107 are positioned midway between respective
 magnets 52XN.sub.1, 52XS.sub.2 and 52XN.sub.3. The commutation circuit
 (not shown) provides electric current flowing out of the plane of the
 figure on wire 106. Similarly, electric current in the direction into the
 plane of the figure is provided on wire 107. In accordance with the
 Lorentz law, the resultant electromagnetic force acts on the coil
 exclusively in the Z direction. For convenience, the electric current
 configuration generating this force is designated "Z current," or Iz. The
 Z direction force acts to urge the coil array upward above the magnet
 array (in the present embodiment, since the coil array is fixed, the
 magnet array will be forced (downward) away from the fixed coil array).
 The magnitude of the electric current adjusts the distance of the magnet
 array below the coil array. The angular inclination of the magnet array
 relative to the coil array can be adjusted by supplying currents of
 differing magnitudes through different wires. For example, a stronger
 current Iz provided to wire 107 than to wire 106 causes the distance
 between the right hand side of the magnet array and the coil array to be
 larger than the distance between the left hand side of the magnet array
 and the coil array (the inclination of the movable magnet array is thus
 controlled). A sinusoidally-shaped waveform, shown graphically in
 alignment with the planar motor in FIG. 18, causes electric current Iz to
 fall eventually to 0, when wires 106 and 107 move farther relative to
 respective magnet groups 52XN.sub.1, 52XS.sub.2 and 52XN3.
 Ideally, the electric current through a wire is predetermined by the
 instantaneous location of the wire relative to the magnets. For example, a
 wire directly above a magnet should be provided with maximum X current to
 maximize the X direction force, and a wire equidistant between two magnets
 should be provided with maximum Z current to maximize the Z direction
 force. The directions of the currents are reversed for wires located at
 positions having reversed magnetic flux.
 For purposes of clarity, only three coil wires 105, 106 and 107 are shown
 in FIGS. 15 and 17. As is well-known to those skilled in the art, typical
 planar motor coil implementations include numerous closely packed wires
 connected with a commutation circuit in multiple phases, generally two or
 three phases, with each phase having a plurality of wires, generally with
 equal numbers of wires for each such phase. Typically all of the wires
 belonging to a particular phase are commutated together. In an embodiment
 having coils of more than one phase, when the electric current Ix is
 decreasing for one phase, a similar electric current Ix is typically
 increasing for another phase. The sinusoidal currents are adjusted to
 provide a constant force. This prevents the stage from traveling with
 uneven speeds. Similarly, in an embodiment when electric current Iz is
 decreasing for one phase, a similar current Iz is typically increasing for
 another phase, thus preventing the magnet array from oscillating up and
 down in elevation with respect to changes in current Iz.
 The Lorentz force on the wire 106 in the direction indicated by arrow 109
 (see FIGS. 15 and 17) urges coil array to move in that direction. (Since
 the coil array is fixed, the corresponding reaction force on the movable
 magnet array causes the magnet array to move in the opposite direction of
 arrow 109.) At a location midway between two magnets, the magnetic flux
 direction is as shown in FIG. 17. Accordingly, the Lorentz force (arrow
 109) on wire 106 has a Z component, which urges the magnet array downward
 away from the coil array, and a horizontal X force component, which urges
 the coil array in the X direction. When only X force is desired, the Z
 force component is typically offset by an opposing Z force component on a
 wire commutated by a different phase and having either a magnetic flux or
 current reversed relative to wire 106, thus leaving a net X direction
 force.
 FIG. 19 is a cross-sectional elevation view of a planar motor relative to
 coordinate arrows X and Z. The planar motor includes a magnet array having
 magnets 52XN.sub.1, 52XS.sub.2 and 52XN.sub.3 similar to FIGS. 15 and 17.
 As in FIGS. 15 and 17, the magnetic flux path of the magnet array is
 indicated by the dashed lines on FIG. 19. The planar motor further
 includes a coil array having for simplicity six wires A1, A2, B1, B2, C1
 and C2 distributed among three different phases A, B and C, with two wires
 per phase. As with FIGS. 15 and 17, a central solid dot on a wire
 indicates electric current flow in the +Y direction out of the plane of
 the figure, whereas a cross on a wire indicates electric current flow in
 the -Y direction into the plane of the figure. Paired wires of the same
 phase have oppositely directed current, since they are portions of a
 single continuous current loop. Thus, wires A1, B1 and C1 have oppositely
 directed current from wires A2, B2 and C2, respectively. In accordance
 with the Lorentz law, the electromagnetic force on wires A1, A2, B1, B2,
 C1 and C2 acts in the direction shown by the arrows pointing from the
 respective wires. Forces on wires of phase A act exclusively in the X
 direction. Wires of the B and C phases, however, all have Z components of
 electromagnetic force. Of importance, in the X commutation configuration
 of FIG. 19, the +Z force components acting on the wires C1 and C2 of phase
 C are identically canceled by the -Z force components acting on wires B1
 and B2 of phase B, leaving only net X force components on the coil array.
 In other commutation configurations, X force components are identically
 canceled between phases, leaving only net Z force components.
 FIG. 20 is a cross-sectional view of a planar motor with a three-phase coil
 array 209, in accordance with an embodiment of the invention. Aligned with
 the coil array 209 in the lower portion of FIG. 20 is a graphic
 representation of the current components through the corresponding coil
 phases. The current shown in FIG. 20 is the current through any phase as a
 function of that phase's position in the X direction. In an embodiment
 having coils of more than one phase, when the electric current Ix is
 reduced for one phase, a similar electric current Ix is typically
 increased for another phase. This prevents the magnet array from traveling
 with uneven speeds. Similarly, when electric current Iz is reduced for one
 phase, it is typically increased for another phase, thus preventing the
 magnet array from oscillating up and down in elevation with changing
 current Iz.
 As shown in the lower portion of FIG. 20, both the X current Ix and the Z
 current Iz follow sinusoidal waveforms. X current Ix has a positive
 maximum near magnet 52XS.sub.2, and a negative maximum near magnet
 52XN.sub.3. Z current Iz has a negative maximum at an X position
 equidistant between magnets 52XS.sub.2 and 52XN.sub.3, and a positive
 maximum at a position equidistant between magnets 52XN.sub.3 and
 52XS.sub.4. The amplitudes of Ix and Iz are selected independently of one
 another and depend on the required force in the X and Z directions
 respectively. Accordingly, the amplitudes of Ix and Iz in FIG. 20 are
 shown as equal by way of example only. When the currents of all three
 phases of coil array 209 are sequentially commutated according to the
 illustrated Ix and Iz curves, the magnet array travels in a level
 horizontal plane at a steady speed.
 The superposition of currents Ix and Iz is represented graphically as
 superposition current Is in the lower portion of FIG. 20. In this example,
 the waveform of Is is the result of superposition of equal current
 amplitudes Ix and Iz. In other embodiments, differing amplitudes of Ix and
 Iz waveforms result in differing amplitudes and waveforms of superposition
 current Is. In the example of FIG. 20, for the magnet array to travel from
 left to right while maintaining a level attitude, superposition current Is
 has a positive maximum between magnets 52XN.sub.3 and 52XS.sub.4, at a
 position closer to magnet 52XS.sub.4 than to magnet 52XN.sub.3.
 Superposition current Is has a negative maximum between magnets 52XS.sub.2
 and 52XN.sub.3, at a position closer to magnet 52XN.sub.3 than to magnet
 52XS.sub.2.
 Shown in FIG. 20 are the phases A, B and C of coil array 209. Each phase is
 represented by coil units in the form of wire loops, for example as
 described in connection with FIGS. 8A-11. All wires of the same phase
 carry the same instantaneous current. Thus, for phase A in this
 embodiment, there is a leg A1 and a leg A2. When electric current flows
 into the plane of the figure at leg A1, because the coil unit is in the
 form of a continuous loop, electric current flows out of the plane of the
 figure at leg A2. Phase A3, shown in the upper right portion of FIG. 20,
 is centered above magnet 52XS.sub.4 and carries the same instantaneous
 current as phase A1, since it is commutated with phase A. A desired
 electric current configuration can be found by correlating the location of
 a phase with the sinusoidal curve of superposition current Is. For
 example, vertical line 215 corresponds to a position on the superposition
 current Is waveform that has zero current, and thus a phase centered at a
 position traversed by vertical line 215 should have zero current. Phase B1
 approximates this desired position. Likewise, vertical line 219
 corresponds to another position on superposition current Is waveform
 having zero current. Phase B2 approximates this desired position. Because
 all of the wires B1 and B2 in the same phase B coil unit are commutated
 together, the current through wires B1 and B2 respectively is the same as
 for any other wires in the same phase. Accordingly, a zero current Is in
 both phases B1 and B2 is consistent with the force required for equal X
 and Z commutation of coil array 209. Thus, in some embodiments, all active
 coil units of a coil array are simultaneously commutated for X and Z
 forces by applying a superposition current Is.
 Thus, driving of the driving magnetic pole unit 51X1 can be performed by
 controlling the current supply to the armature coil 63X facing toward the
 driving magnetic pole unit 51X2, which is the same as the case of the
 driving magnetic pole unit 51X1 with respect to the driving magnetic pole
 unit 51X2. Therefore, with respect to both the driving magnetic pole units
 51X1 and 51X2, by controlling the current supplied to the facing armature
 coil 63X according to the position relationship of the flat coil group
 61X, it is possible to drive the wafer stage WST by a desired driving
 force in the Z and X axis directions.
 Furthermore, when the wafer stage WST is translated and driven in the
 X-axis direction, it is necessary to control the current of each armature
 coil 63X so that the driving force that acts on the driving magnetic pole
 unit 51X1 and the driving force that acts on the driving magnetic pole
 unit 51X2 become the same. This is because the rotational force that acts
 on the wafer stage WST is made to be 0. Meanwhile, when the wafer stage
 WST is rotated and driven around the Z-axis, the current of each armature
 coil 63X can be controlled so that the driving force in the X-axis
 direction that acts on the driving magnetic pole unit 51X1 and the driving
 force in the X-axis direction that acts on the driving magnetic pole unit
 51X2 are different from each other (for example, they can be in the
 opposite direction to each other). Additionally, when the wafer stage WST
 is rotated and driven about the X-axis, the current of each armature coil
 63X can be controlled so that the driving force in the Z-axis direction
 that acts on the driving magnetic pole unit 51X1 and the driving force in
 the Z-axis direction that acts on the driving magnetic pole unit 51X2 are
 different from each other.
 The Y-axis is driven in a similar manner.
 Next, driving of the driving magnetic pole units 51Y1 and 51Y2 by the
 Lorentz electromagnetic force that is generated by the mutual operation
 between the magnetic flux between the driving magnetic pole units 51Y1 and
 51Y2 and the non-magnetic body member 62Y and the current flowing into the
 armature coil 63Y of the flat coil group 61Y is explained.
 When current is supplied to the armature coil 63Y in the environment of the
 magnetic flux density B by the driving magnetic pole units 51Y1 and 51Y2,
 a Lorentz electromagnetic force is generated in the armature coil 63Y. In
 this case, the generation of the Lorentz electromagnetic force is the same
 as the case of the driving magnetic pole units 51X1 and 51X2. That is, in
 the same manner as the case of the driving magnetic pole units 51X1 and
 51X2, by supplying the three-phase current to each armature coil 63Y, it
 is possible to drive the wafer stage WST at a desired driving force in the
 Z- and Y-axis directions.
 Furthermore, when driving the driving magnetic pole units 51Y1 and 51Y2, in
 the same manner as in the case of driving the driving magnetic pole units
 51X1 and 51X2, when the wafer stage WST is translated and driven in the
 Y-axis direction, in order to make the rotation force that acts on the
 wafer stage WST zero, it is necessary to control the current of each
 armature coil 63Y so that the driving force that acts on the driving
 magnetic pole unit 51Y1 and the driving force that acts on the driving
 magnetic pole unit 51Y2 are the same. Furthermore, when the wafer stage
 WST is rotated and driven about the Z-axis, the current of each armature
 coil 63Y is controlled so that the driving force in the Y-axis direction
 that acts on the driving magnetic pole unit 51Y1 and the driving force in
 the Y-axis direction that acts on the driving magnetic pole unit 51Y2 are
 different from each other (for example, they are in opposite directions to
 each other), causing the Y-force to have a slope in the X-direction.
 Furthermore, when the wafer stage WST is rotated and driven about the
 X-axis, the current of each armature coil 63Y is controlled so that the
 driving force in the Z-axis direction that acts on the driving magnetic
 pole unit 51Y1 and the driving force in the Z-axis direction that acts on
 the driving magnetic pole unit 51Y2 are different from each other.
 Additionally, in driving the driving magnetic pole units 51Y1 and 51Y2, in
 the same manner as in the case of driving the driving magnetic pole units
 51X1 and 51X2, the current supplied to each armature coil 63Y is
 determined according to the position relationship between the driving
 magnetic pole units 51Y1 and 51Y2 and the flat coil group 61Y.
 Thus, with respect to driving the wafer stage WST, driving in the X-axis
 direction is performed by driving the driving magnetic pole unit 51X, and
 driving in the Y-axis direction is performed by driving the driving
 magnetic pole unit 51Y. Additionally, driving in the Z-axis direction,
 rotation driving about the Z-axis, rotation driving about the X-axis, and
 rotation driving about the Y-axis are performed by the driving magnetic
 pole unit 51X, the driving magnetic pole unit 51Y, or both of the driving
 units. Therefore, according to the position relationship between the flat
 coil group 61X and the driving magnetic pole unit 51X and the position
 relationship between the flat coil group 61Y and the driving magnetic pole
 unit 51Y, the current that is supplied to the armature coil 63Y at a
 position facing toward the driving magnetic pole unit 51Y in the flat coil
 group 61Y and the armature coil 63X at a position facing toward the
 driving magnetic pole unit 51X in the flat coil group 61X is controlled so
 that not only the wafer stage WST but also the wafer W can be driven at a
 desired driving force in the six degrees-of-freedom directions.
 Furthermore, in the stage device 30 of this embodiment, the magnetic body
 member 62X of the flat coil group 61 disposed above the wafer stage WST is
 structured by a magnetic body material, so magnetic attraction exists
 between the driving magnetic pole units 51X1 and 51X2 and the magnetic
 body member 62X. Therefore, prior to driving the wafer stage WST in the
 Z-axis direction, upon considering the magnetic attraction, the current
 supplied to the armature coils 63X and 63Y is controlled.
 Therefore, according to the stage device 30 of this embodiment, by taking
 advantage of strengths of the Lorentz electromagnetic force driving
 method, which include superior controllability, thrust line shape, and
 positioning, the driving magnetic pole units 51, which have a reduced
 weight, can be driven at an arbitrary driving force in an arbitrary
 direction along the X-Y plane.
 In the stage device 30 of this embodiment, as described earlier, because
 the driving magnetic pole units 51X1, 51X2, 51Y1, and 51Y2 are fixed to
 the wafer stage WST that is maintained through the wafer holder, by
 driving and controlling the driving magnetic pole units 51X1, 51X2, 51Y1,
 and 51Y2 through the stage controlling system 19 in the main controller 20
 as described above, it is possible to integrally move the wafer stage WST
 and the wafer W within the X-Y plane. Furthermore, as further described,
 as the driving magnetic pole units 51X1, 51X2, 51Y1, and 51Y2, that is,
 the wafer stage WST, is moved by a desired driving force in a desired
 direction, in the main controller 20, the mutual position relationship
 within the X-Y plane between the movable elements 51X1, 51X2, 51Y1, and
 51Y2 and the stationary parts 61X and 60Y is obtained by monitoring the
 measured value (position information or speed information) of the wafer
 interferometer 31 through the stage controlling system 19. Furthermore, in
 the main controller 20, according to the mutual position relationship that
 was thus obtained and the target position to which the wafer stage WST is
 to be driven, the value and direction of the current to be supplied to
 each armature coil 63X and 63Y are calculated and determined, and an
 instruction is given to the stage controlling system 19. By doing this, in
 the stage controlling system 19, the current value and direction given to
 each armature coil 63X and 63Y in response to the instruction are
 controlled through the current driving devices 22X and 22Y. Additionally,
 according to the distance to the target position, the speed of the wafer
 stage WST is also controlled in the main controller 20.
 Here, based upon the position information (or speed information) that has
 been obtained from the wafer interferometer 31 for each point in time of
 the movement, the main controller 20 can also obtain the direction and
 value of the current that is supplied to each armature coil 63. However,
 when the controlling response is not sufficiently fast, the direction and
 value of the current that is supplied to the respective armature coils 63X
 and 63Y can be obtained according to a feed-forward control technique, in
 which by controlling the movement of the movable elements 51X1, 51X2,
 51Y1, and 51Y2, for example, the wafer W can be located on a desired path
 at a desired speed in a certain time interval after the movement begins.
 In this case, based upon the position information (or speed information)
 that has been obtained from the wafer interferometer 31 for each point in
 time of the movement, the main controller 20 obtains a shift from a
 desired path, and after that, the direction and values of the currents
 that are supplied to the respective armature coils 63X and 63Y are
 corrected, and the direction and value of the currents that are to be
 supplied to the respective armature coils 63X and 63Y for a specified time
 interval after the corrected time interval are obtained time sequentially.
 Then, based upon the corrected information, the stage controlling system
 19 performs controlling of the current for the respective armature coils
 63X and 63Y.
 Furthermore, in this embodiment, prior to driving the driving magnetic pole
 unit 51, based upon the position information (or speed information) that
 has been obtained from the wafer interferometer 31, the armature coils 63X
 and 63Y that are facing the driving magnetic pole units 51X1, 51X2, 51Y1,
 and 51Y2 are determined, and the stage controlling system 19 controls the
 current driving devices 22X and 22Y so that the current to drive the
 driving magnetic pole units 51X1, 51X2, 51Y1, and 51Y2 is supplied to only
 the appropriate armature coils 63X and 63Y. Therefore, current is not
 supplied to armature coils 63X and 63Y that generate only a weak Lorentz
 electromagnetic force, or that do not generate any Lorentz electromagnetic
 force. Thus, maintenance of the driving force and decreasing of the
 consumed current are improved.
 Next, a summary of the principles of the reaction cancellation that acts on
 the stationary parts 60X and 60Y in this embodiment is explained with
 reference to FIGS. 21A through 24.
 In the reaction cancellation magnetic pole unit 45X1, as shown by solid
 arrow lines in FIG. 21A, the permanent magnet 48XN generates magnetic flux
 in the +Z direction (the upward direction in the drawing), and the
 permanent magnet 48XS generates magnetic flux in the -Z direction (the
 downward direction in the drawing). Furthermore, a magnetic circuit is
 formed such that the magnetic flux circulates through the permanent magnet
 48XN, the magnetic body member 62X, the permanent magnet 48XS, and the
 magnetic body member 47X in order.
 At this time, the Z direction component BZ (hereafter referred to as
 "magnetic flux density BZ") of the magnetic flux density near the lower
 surface of the magnetic body member 62X, which is at the Z position where
 the armature coil 63X comprising the flat coil group 61X is disposed, has
 the distribution shown in FIG. 21B. That is, the absolute value of the
 magnetic flux density BZ becomes maximum at positions corresponding to the
 middle points of the permanent magnets 48XN and 48XS. The absolute value
 of the magnetic flux density BZ decreases as it approaches the position
 corresponding to the peripheries of the magnetic pole faces. The magnetic
 flux density BZ becomes 0 at the middle point position between the
 position corresponding to the center of the permanent magnet 48XN and the
 position corresponding to the center of the permanent magnet 48XS.
 Furthermore, in FIG. 21B, when the direction of the magnetic flux is the
 +Z direction, the value of the magnetic flux density BZ is positive, and
 when the direction of the magnetic flux is the -Z direction, the value of
 the magnetic flux density BZ is negative.
 Furthermore, the reaction force cancellation magnetic pole unit 45X2
 generates the same magnetic flux density BZ as in FIG. 21B at the Z
 position where the armature coil 63X is disposed.
 When the right-circulating currents I.sub.1, I.sub.2, and I.sub.3, as seen
 in the plan view, are supplied to the armature coils 63X.sub.1, 63X.sub.2,
 and 63X.sub.3 where the current path faces both the permanent magnets 48XN
 and 48XS, as shown in FIG. 22A, the Lorentz electromagnetic force
 FCX1.sub.1 is generated in the -X direction in the area facing the
 permanent magnet 48XS of the armature coils 63X.sub.1, 63X.sub.2, and
 63X.sub.3 by electromagnetic interactions, and the Lorentz electromagnetic
 force FCX1.sub.2 is generated in the -X direction in the area facing the
 permanent magnet 48XN. As a result, the force FCX1 of the -X direction,
 that is the combination of the Lorentz electromagnetic forces FCX1.sub.1
 and FCX1.sub.2, acts on the stationary part 60X, and this force FCX1 is
 thus applied to the stationary part. Thus, it is possible to generate the
 X-axis direction component of the reaction force that acts on the
 stationary part 60X driven by the above-mentioned magnetic pole unit 51,
 that is, the force FCX1, along the same plane as the plane along which the
 Lorentz electromagnetic force is generated when the wafer stage WST is
 driven in the X-axis direction. Furthermore, the size of the force FCX1
 depends upon the size of the currents I.sub.1, I.sub.2, and I.sub.3.
 Additionally, when the left-circulating currents I.sub.1, I.sub.2, and
 I.sub.3 as seen in the plan view, are supplied to the armature coils
 63X.sub.1, 63X.sub.2, and 63X.sub.3 as shown in FIG. 22B, a Lorentz
 electromagnetic force FCX1.sub.1 in the +X direction is generated in the
 area of the armature coils 63X.sub.1, 63X.sub.2, and 63X.sub.3 facing the
 permanent magnet 48XS by electromagnetic interaction, and a Lorentz
 electromagnetic force FCX1.sub.2 in the +X direction is generated in the
 area facing the permanent magnet 48XN. As a result, the force FCX1 in the
 +X direction, that is a combination of the Lorentz electromagnetic forces
 FCX.sub.1 and FCX1.sub.2, is applied to the stationary part 60X.
 That is, by controlling the size and the direction of the current that is
 supplied to the armature coils 63X.sub.1, 63X.sub.2, and 63X.sub.3, a
 desired size of the force FCX1 is applied in a desired direction, from
 among the -X direction and the +X direction, at the position of
 arrangement of the armature coils 63X.sub.1, 63X.sub.2, and 63X.sub.3 of
 the stationary part 60X.
 Furthermore, with respect to the armature coil 63X facing the reaction
 force cancellation magnetic pole unit 45X2, in the same manner as the case
 of the armature coils 63X.sub.1, 63X.sub.2, and 63X.sub.3, by controlling
 the size and direction of the current that is supplied to the armature
 coil 63X, a desired size of the force FCX2 (see FIG. 24) is applied to the
 stationary part 60X in a desired direction from among the +X and -X
 directions.
 Additionally, in the reaction force cancellation magnetic pole unit 45Y1,
 as shown by arrow lines in FIG. 23A, the permanent magnet 48YN generates
 magnetic flux in the -Z direction (downward direction in the drawing), and
 the permanent magnet 48YS generates magnetic flux in the Z direction (the
 upward direction in the drawing). Furthermore, a magnetic circuit is
 formed such that the magnetic flux circulates through the permanent
 magnets 48YN and 48YS and the magnetic body member 47Y in order.
 At this time, the Z direction component (hereafter referred to as "magnetic
 flux density BZ") BZ of the magnetic flux density near the top face of the
 non-magnetic body member 62Y, which is at the Z position where the
 armature coil 63Y comprising the flat coil group 61Y is provided, has the
 distribution shown in FIG. 23B. That is, the absolute value of the
 magnetic flux density BZ becomes maximum at the positions corresponding to
 the middle points of the permanent magnets 48YN and 48YS. The absolute
 value of the magnetic flux density BZ decreases as it approaches positions
 corresponding to the peripheries of the magnetic pole faces. The magnetic
 flux density BZ becomes 0 at the middle point position between the
 position corresponding to the center of the permanent magnet 48YN and the
 position corresponding to the center of the permanent magnet 48YS.
 Furthermore, in the same manner as in FIGS. 23B and 21B, when the
 direction of the magnetic flux is a +Z direction, the value of the
 magnetic flux density BZ is positive, and when the direction of the
 magnetic flux is a -Z direction, the value of the magnetic flux density BZ
 is negative.
 Furthermore, the reaction force cancellation magnetic pole unit 45Y2
 generates the same magnetic flux density BZ at the Z position where the
 opposing armature 63Y is disposed as in FIG. 23B.
 Furthermore, with respect to the armature coil 63Y facing the reaction
 force cancellation magnetic pole unit 45Y1, in the same manner as in the
 case of the armature coils 63X.sub.1, 63X.sub.2, and 63X.sub.3, by
 controlling the size and the direction of the current that is supplied to
 the armature coil 63Y, a force of desired size is applied to the
 stationary part 60Y in a desired direction among the +Y and -Y directions.
 Additionally, with respect to the armature coil 63Y facing the reaction
 force cancellation magnetic pole unit 45Y2, in the same manner as the case
 of the armature coils 63X.sub.1, 63X.sub.2, and 63X.sub.3, by controlling
 the size and the direction of the current that is supplied to the armature
 coil 63Y, a desired size of the force is applied to the stationary part
 60Y in a desired direction among the +Y and -Y directions.
 Incidentally, as shown in FIG. 24, when the driving magnetic pole unit 51X
 is driven by a force F, a force (-F) acts on the point R in the stationary
 part 60X. Here, the X component of the reaction force (-F) is (-FX).
 Furthermore, the distance between a straight line along the reaction force
 (-F) and the center of gravity G of the stationary part 60X is D.
 In order to cancel the reaction force, if the X components of the forces
 FCX1 and FCX2 are defined as CX1 and CX2, forces FCX1 and FCX2 can be
 applied that satisfy the following equations:
EQU FX=FCX1+FCX2 (3)
EQU FX.multidot.D=FCX1.multidot.LY1-FCX2.multidot.LY2 (4)
 Furthermore, as shown in FIG. 24, the Y direction distances from the center
 of gravity G and the application point of the forces FCX1 and FCX2 are LY1
 and LY2.
 The above-mentioned equations (3) and (4) are simultaneous equations, so
 the solution is immediately determined. Therefore, by supplying a current
 in which FCX1 and FCX2 that satisfy the formulae (3) and (4) are generated
 to the armature coil 63X facing the reaction force cancellation magnetic
 pole units 45X1 and 45X2, the X-axis direction component of the reaction
 force that acts on the stationary part 60X due to driving of the driving
 magnetic pole units 51X1 and 51X2 can be canceled.
 Furthermore, with the Y-axis direction component of the reaction force that
 acts on the stationary part 60Y due to driving of the driving magnetic
 pole units 51Y1 and 51Y2, in the same manner as in canceling the reaction
 force in the above-mentioned stationary part 60X, by controlling the
 current that is supplied to the armature coil 63Y facing the reaction
 force cancellation magnetic pole units 45Y1 and 45Y2, cancellation of
 reaction force is possible.
 In the device 100 of this embodiment, the main controller 20 carries out
 driving of the magnetic pole units 51X1, 51X2, 51Y1, and 51Y2 by supplying
 current to the armature coils 63X and 63Y facing the above-mentioned
 driving magnetic pole units 51X1, 51X2, 51Y1, and 51Y2 via the stage
 controlling system 19 and the current driving devices 22X and 22Y. The
 main controller 20 simultaneously cancels the reaction forces that act on
 the stationary parts 60X and 60Y that are already known to the main
 controller 20 by applying forces that are generated by electromagnetic
 interactions to the stationary parts 60X and 60Y. Therefore, because the
 forces to accurately cancel the reaction forces are applied to the
 stationary parts 60X and 60Y without delay starting at the time of the
 operation, it is possible to create a state as if the reaction force did
 not act on the stationary parts 60X and 60Y, due to driving of the driving
 magnetic pole units 51X1, 51X2, 51Y1 and 51Y2.
 Furthermore, the reaction force cancellation in the translational driving
 is explained above, but in the case of rotational driving, two kinds of
 reaction forces act on the stationary parts 60X and 60Y. In this case, by
 obtaining a force to cancel each reaction force and applying the
 accumulated forces to the stationary parts 60X and 60Y, the entire
 reaction force can be canceled.
 Additionally, with respect to the reaction force cancellation magnetic pole
 units 45X1, 45X2, 45Y1, and 45Y2, each support member 46X and 46Y is fixed
 to the floor or the like independently from other structural elements of
 the exposure device 100. Therefore, if the reaction force that acts on the
 stationary parts 60X and 60Y due to driving of the driving magnetic pole
 units 51X1, 51X2, 51Y1, and 51Y2 is applied to the stationary parts 60X
 and 60Y to cancel the reaction force, the reaction force acts on the
 reaction force cancellation magnetic pole units 45X1, 45X2, 45Y1, and
 45Y2, but the reaction force does not vibrate other structural elements of
 the exposure device 100.
 The stage device 30 is manufactured by assembling the components of stage
 device 30 other than the bases 21X and 21Y and the reaction force
 cancellation magnetic pole units 45X1, 45X2, 45Y1, and 45Y2 with respect
 to the bases 21X and 21Y and providing driving magnetic pole units 51X1,
 51X2, 51Y1, and 51Y2 on the wafer stage WST, and performing overall
 adjustment (electrical adjustment, operational confirmation, and the
 like).
 Next, a flow of an exemplitive exposure operation in the exposure device
 100 including the stage device described earlier is briefly explained.
 First, the reticle R where a pattern to be transferred is formed is loaded
 on the reticle stage RST by a reticle loader. In the same manner, a wafer
 W to be exposed is loaded on the wafer stage WST by a wafer loader.
 At this time, the wafer stage WST is floatingly supported between the base
 21X and the base 21Y at a specified wafer loading position. Based upon the
 measurement value of the wafer interferometer, the wafer stage WST is
 servo-controlled by the main controller 20 through the stage controlling
 system 19 so that a stopped state of a specified time can be maintained at
 the loading position. Therefore, during the loading position waiting time,
 current is supplied to the armature coils 63X and 63Y that form the
 stationary parts 60X and 60Y of the stage device 30, and cooling of the
 armature coils 63X and 63Y is performed by using a cooling machine or the
 like by the main controller 20 so that temperature increase due to heat in
 the armature coils 63X and 63Y can be prevented.
 Next, by control of the main controller 20, after preparation operations of
 a reticle microscope, not depicted, a reference mark plate on the wafer
 stage WST, not depicted, and an alignment detection system, not depicted,
 baseline measurement, and/or the like is performed in a specified order,
 by using an alignment detection system, alignment measurement is performed
 such as EGA (enhanced global alignment) or the like disclosed in, for
 example, Japanese Laid-Open Patent Publication No. 61-44429 corresponding
 to U.S. Pat. No. 4,780,617. The disclosures of this Japanese Patent
 Publication and U.S. patent are incorporated herein by reference. In this
 operation, when movement of the wafer W is needed, as described earlier,
 the main controller 20 controls the current of the respective armature
 coils 63X and 63Y within the stage device 30 through the stage controlling
 system 19, and the wafer W is moved by driving the driving magnetic pole
 units 51X1, 51X2, 51Y1, and 51Y2. When driving the driving magnetic pole
 units 51X1, 51X2, 51Y1, and 51Y2, the main controller 20 controls the
 current of the armature coils 63X and 63Y facing the reaction force
 cancellation magnetic pole units 45X1, 45X2, 45Y1, and 45Y2 within the
 stage device 30 through the stage controlling system 19, and the reaction
 force that acts on the stationary parts 60X and 60Y due to driving of the
 driving magnetic pole units 51X1, 51X2, 51Y1, and 51Y2 is canceled. After
 the completion of this alignment measurement, a step-and-scan type of
 exposure operation is performed as follows.
 Prior to this exposure operation, first the wafer stage WST is moved so
 that the X-Y position of the wafer W can be located at the scanning start
 position for the exposure of the first shooting area on the wafer W. This
 movement can be performed by controlling the current of the respective
 armature coils 63X and 63Y that form the stage device 30 through the stage
 controlling system 19 by the main controller 20 as described earlier. At
 the same time, the reticle stage RST is moved so that the X-Y position of
 the reticle R can be located at the scanning start position. This movement
 is performed through the reticle driving part or the like, not depicted,
 and the stage controlling system 19, by the main controller 20.
 Furthermore, based upon the X-Y position information of the wafer W
 measured by the wafer interferometer 31 and the X-Y position information
 of the reticle R measured by the reticle interferometer 16, the stage
 controlling system 19 synchronizes and moves the wafer W and the reticle R
 through the stage device 30 and the reticle driving part, not depicted. At
 the same time, the reaction force that acts on the stationary parts 60X
 and 60Y is canceled. Thus, scanning exposure is performed as well as
 synchronizing movement.
 When transfer of the reticle pattern for one shooting area is completed by
 the scanning exposure that is performed by controlling as described above,
 the wafer stage WST is stepped by one shooting area, and scanning exposure
 is performed for the following shooting area. In this stepping, based upon
 the X-Y position information of the wafer W measured by the wafer
 interferometer 31, as the wafer W is moved by the stage device 30, the
 reaction force that acts on the stationary parts 60X and 60Y is canceled.
 Thus, as stepping and scanning exposure are sequentially repeated, the
 necessary number of shooting patterns are transferred to the wafer W.
 Therefore, according to the exposure device 100 of this embodiment, the
 wafer W can be positioned at high speed with high accuracy by the stage
 device 30 so that throughput can be improved and exposure can be performed
 with high exposure accuracy. That is, the exposure device 100 of this
 embodiment is structured by assembling the stage device 30 of this
 embodiment with each element shown in FIG. 1, such as the illumination
 optical system 10 and the projection optical system PL described earlier,
 so throughput can be improved and an exposure device that exposes with
 high exposure accuracy can be realized.
 The exposure device 100 of this embodiment can be manufactured by
 assembling a reticle stage RST structured by many mechanical parts, a
 projection optical system PL structured by a plurality of lenses, a stage
 device 30, and the like, performing overall adjustment (electrical
 adjustment, operation confirmation, and/or the like).
 In addition, it is preferable to manufacture the exposure device 100 in a
 clean room where the temperature, cleanliness, and the like, are managed.
 Next, manufacturing a device using the exposure device and method of this
 embodiment is explained.
 FIG. 25 shows a flowchart of a process for manufacturing a device (e.g., a
 semiconductor chip such as an IC or an LSI, a liquid crystal panel, a CCD,
 a thin film magnetic head, a micromachine, or the like) according to this
 embodiment. As shown in FIG. 25, first, in step 201 (design step),
 functional design of a device (for example, a circuit design of a
 semiconductor device or the like) is performed, and pattern designing is
 performed to realize the function. Subsequently, in step 202 (mask
 manufacturing step), a mask is manufactured on which is formed a circuit
 pattern that has been designed. Meanwhile, in step 203 (wafer
 manufacturing step), a wafer is manufactured by using a material such as
 silicon.
 Next, in step 204 (wafer processing step), using the wafer and the mask
 that have been prepared in steps 201-203, as discussed, an actual circuit
 or the like is formed on the wafer by a lithographic technique. Next, in
 step 205 (assembling step), using the wafer that has been processed in
 step 204, the circuit can be made into a chip. In this step 205,
 processing such as assembly processing (dicing and bonding) and packaging
 processing (chip packaging) can be performed.
 Finally, in step 206 (testing step), an operation confirmation test,
 resistance test, and/or the like is performed for the device that has been
 manufactured in step 205. After the process, this device is completed and
 can be sent to the market.
 FIG. 26 shows a detailed flowchart of the above-mentioned step 204 in the
 case of a semiconductor device. In FIG. 26, the surface of the wafer is
 oxidized in step 211 (oxidation step). In step 212 (CVD step), an
 insulating film is formed on the wafer surface. In step 213 (electrode
 formation step), an electrode is formed by deposition on the wafer. In
 step 214 (ion embedding or implanting step) ions are embedded in the
 wafer. The respective steps 211 through 214 each form a pre-processing
 step of the wafer process, and are selected and performed according to the
 necessary processing.
 In each step of the wafer process, when the pre-processing is completed,
 the following post-processing is performed. In the post-processing, first
 in step 215 (resist formation step), a sensitive material is coated on the
 wafer, and in the following step 216 (exposure step), the circuit pattern
 of the mask is exposed onto the wafer by the exposure device and the
 exposure method described above. Next, in step 217 (development step), the
 exposed wafer is developed, and in step 218 (etching step), the parts of
 the exposed member other than the parts where resist still remains are
 removed by etching. Then, in step 219 (resist removal step), the resist
 for that etching is completed, and that which is no longer needed is
 removed.
 As the pre-processing and post-processing are repeated, many layers of
 circuit patterns are formed on the wafer.
 Thus, a device where a refined pattern is accurately formed is manufactured
 at high productivity.
 The following explains a second embodiment of this invention based on FIGS.
 27-29. Here, the same symbols are used for the same or similar structural
 parts as in the first embodiment described earlier, and explanation
 thereof is abbreviated or omitted.
 FIG. 27 is a cross-sectional view of a schematic structure of an exposure
 device 150 according to the second embodiment. This exposure device 150 is
 an electron beam exposure device that performs exposure of the resist on
 the wafer W using an electron beam.
 The exposure device 150 of this embodiment is different from the first
 embodiment described earlier and is stored within a vacuum chamber, not
 depicted, disposed in a high-pressure clean room, not depicted. This
 exposure device 150 differs from the exposure device 100 in that an
 electron optical system PL1, which is a type of a charged particle beam
 optical system, is disposed as a projection optical system instead of the
 projection optical system PL discussed earlier, and the table 41, the
 reticle stage RST, and the reticle interferometer 16 are not disposed.
 As shown in FIG. 28, a pencil beam type (Gaussian beam type) electron
 optical system having an electron lens barrel 82 that functions as a
 charged particle beam lens barrel, an electron gun 84, and first and
 second electromagnetic lenses 86 and 88 is used as the electron optical
 system PL1. In this electron optical system PL1 of FIG. 28, resist on the
 wafer W is exposed and a desired pattern is transferred to the surface of
 the resist as an electron beam generated by the electron gun 84 is
 accelerated by an electromagnetic lens system structured by the first and
 second electromagnetic lenses 86 and 88, to which respective specified
 voltages are applied. The electron beam is formed on a spot, and the spot
 is raster-scanned or vector-scanned. Furthermore, in FIG. 28, the internal
 structure of the electron optical system PL1 is shown, but an objective
 aperture, polarizing electrode, reflected electron detection elements, an
 astigmatic correction coil and the like are actually also included.
 Furthermore, in this exposure device 150, as shown in FIG. 27, a
 funnel-shaped magnetic shield 90 is provided that covers the parts of the
 electron lens barrel 82 of the electron optical system PL1 excluding the
 output port of the electron beam output end part. FIG. 29 shows a
 cross-sectional view of the magnetic shield 90. This magnetic shield 90
 has a two-layer structure with an internal barrel 92 shaped like a funnel
 and an external barrel 94 that has substantially the same shape disposed
 at a specified clearance from the periphery of the internal barrel 92. The
 internal barrel 92 is supported by a plurality of protruding parts 95a,
 95b, . . . disposed at a specified interval on the internal surface of the
 external barrel 94 so that substantially the same clearance can be
 maintained over the entire periphery of the external barrel 94. The
 internal barrel 92 is formed by, for example, permalloy, which has a large
 permeability, and the external barrel 94 is formed by, for example, carbon
 steel, which has a smaller permeability, compared to that of the internal
 barrel 92.
 This is done because the magnetic flux that enters into the path of the
 electron beam from outside should be as small as possible. That is,
 because the external barrel 94 uses a material with smaller permeability,
 magnetic flux enters at some ratio to the internal barrel 92 through the
 external barrel 94, but the magnetic flux that has entered goes through
 the internal part of the internal barrel 92 structured by a material with
 large permeability, and it substantially reliably prevents the magnetic
 flux from entering into the electron lens barrel 82. Therefore, it is
 possible to keep deflections of the electron beam in unexpected directions
 due to magnetic effects to a minimum.
 If the external barrel is formed by a material with large permeability and
 the internal barrel is formed by a material with small permeability, the
 magnetic flux from outside goes through the inside of the external barrel.
 However, some flux enters into the internal barrel and most of the
 magnetic flux that entered the internal barrel enters into the electron
 lens barrel 82 via the internal barrel that is formed by a material with
 small permeability. This is not preferable.
 The other parts of the structure are the same as in the first embodiment
 described earlier.
 According to the exposure device 150 that is thus structured, during
 exposure, a plurality of divided areas on the wafer W are sequentially
 positioned at the exposure position, respectively, via the stage device 30
 by the controller 20, that is, they are positioned below the electron
 optical system PL1, and a specified circuit pattern is sequentially
 transferred to the respective divided areas. This is different from the
 exposure device 100 described earlier, but the same effects can be
 obtained overall. Furthermore, according to the exposure device 150, by
 using the magnetic shield 90 with the two-layer structure described
 earlier, due to the magnetic effects of the magnetic circuit that
 structures the stage device 30, there is an effect such that the electron
 beam that is irradiated from the electron optical system PL1 to the wafer
 W can be controlled such that deflections of the electron beam in
 unexpected directions are minimized. Needless to say, according to the
 exposure device 150, because an electron beam is used, finer exposure can
 be performed compared to the exposure device 100 using light.
 The exposure device 150 of this embodiment can be manufactured by
 assembling an electron optical system PL1 structured by many parts, a
 magnetic shield 90, a stage device 30, and the like, and performing
 overall adjustment (electrical adjustment, operation confirmation, and/or
 the like).
 Furthermore, it is preferable to manufacture the exposure device 100 in a
 clean room where the temperature and cleanliness are managed.
 Furthermore, by using the exposure device 150 of this embodiment, step 202
 in FIG. 25 described earlier is defined as a step of generating control
 data for the electron beam, and a device with an ultra-fine pattern can be
 manufactured by the same method of manufacturing as used for the device in
 the first embodiment discussed earlier.
 In addition, in this embodiment, the parts of the electron lens barrel 82
 of the electron optical system PL1 excluding the output port of the
 electron beam output end are covered by the magnetic shield 90. However,
 as shown in FIG. 30, it is also acceptable to use a magnetic shield 90A
 structured by an external barrier 94A and an internal barrier 92A in the
 lower face of the base 21X. In that case, due to the same reason as
 mentioned above, the internal barrier 92A is formed by, for example,
 permalloy with large permeability, and the external barrier 94A is
 preferably formed by, for example, carbon steel with small permeability
 compared to the internal barrier 92A. When the magnetic shield 90A is
 used, it is possible to decrease the magnetic flux that enters the
 electron beam path and affects the stage device 30.
 In addition, in this embodiment, as an electron optical system, the case
 when the pencil beam-type (Gaussian beam-type) electron optical system is
 used is explained, but the invention is not limited to this. Any of the
 following can be used: 1 a cell projection-type electron optical system
 that projects a simple pattern such as square, parallelogram, or the like
 that is preformed in a mask (aperture), and one side of which is
 approximately 5 .mu.m, 2 a variable formation beam-type electron optical
 system that applies a beam of a certain size (a square, one side of which
 is 5 .mu.m) to a mask (aperture) on which a somewhat more complicated
 pattern is preformed, compared to the cell projection type, and projects a
 pattern corresponding to a cross-sectional shape of the electron beam that
 goes through the mask, 3 a blanking aperture array type of EBDW (EB
 direct-writing type) which has a plurality of shutters in the mask can be
 used (normally, electrodes are formed in a matrix in a dielectric mask,
 and by applying or not applying voltage to the respective electrode
 positions, each respective electrode part is caused to function as a type
 of condenser, thereby forming a shutter), and 4 EBPS (EB projection
 system) which simultaneously exposes an area with an approximately 250
 .mu.m square area by using a stencil mask. Alternatively, an electron lens
 barrel can be structured by an arbitrary combination of respective methods
 like 1-4 in the above-mentioned pencil beam method.
 Furthermore, in this embodiment, the case when the magnetic shield 90 has a
 two-layer structure is explained, but this invention is not limited to
 this. The magnetic shield can have a single layer structure. In this case,
 due to the effects of the magnetic flux that is generated in the stage
 device 30 by the magnetic shield, it is possible to control the electron
 beam output from the electron lens barrel 82 so that it is not deflected
 in an unexpected direction, and exposure with high accuracy can be
 performed using the electron beam. The material of the magnetic shield in
 this case can be a material with large permeability such as permalloy.
 In addition, in each embodiment described above, the cases were described
 in which this invention was applied to an ArF exposure device and an
 electron line exposure device, respectively, but the applicable scope of
 this invention is not limited to this. This invention is also applicable
 to an exposure device using a charged particle beam such as an ion beam
 exposure device, and to an X-ray exposure device, in addition to an EUV
 exposure device that uses light of the wavelength 5-15 nm as the exposure
 illumination light, and a VUV exposure device using vacuum ultraviolet
 light such as F.sub.2 laser light (wavelength 157 nm) as exposure
 illumination light. Furthermore, in this invention, inside of the chamber
 can be air atmosphere, and needless to say, this invention is preferably
 applicable to a DUV exposure device using KrF excimer laser light, g rays
 or i rays as the exposure illumination light. Furthermore, this invention
 may be used with a step-and-repeat machine, step-and-scan machine, or
 step-and-stitch machine.
 Furthermore, in the above-mentioned embodiment, the driving magnetic pole
 units 51Y1 and 51Y2 are disposed on areas of the surface of the wafer
 stage WST opposite the surface where the wafer is loaded, corresponding to
 areas where the driving magnetic pole units 51X1 and 51X2 are disposed,
 but as shown in FIGS. 31A and 31B, it is possible to use areas on the
 surface opposite the wafer loading surface that do not correspond to the
 areas where the driving magnetic pole units 51X1 and 51X2 are located as
 areas on which the driving magnetic pole units 51Y1 and 51Y2 are disposed.
 In addition, as shown in FIGS. 32A and 32B, the area where the driving
 magnetic pole units 51Y1 and 51Y2 are disposed can be the entire surface
 opposite the surface where the wafer is loaded. In any case, it can be
 operated in the same manner as the above-mentioned embodiment, and the
 same effects can be obtained.
 Furthermore, after the stage device 30 is fixed to the exposure device 100,
 the origin position is obtained (magnetic poles are aligned) with respect
 to the position relationship between the stationary part 60X and movable
 elements 51X1 and 51X2, and the origin position with respect to the
 position relationship between the stationary part 60Y and movable elements
 51Y1 and 51Y2 is obtained. The details of obtaining the origin position
 are disclosed in U.S. patent application Ser. No. 09/156,772, the
 disclosure of which is incorporated herein by reference.
 Furthermore, even though the wafer stage WST is stopped within the X-Y
 plane, the floating force acts in the Z direction, but the magnetic pole
 alignment is not affected. Additionally, during the magnetic pole
 alignment, movement of the wafer stage WST in the Z direction can be
 restricted by using, for example, a stopper member. Furthermore, based
 upon the result of the magnetic pole alignment described earlier, the
 magnetic poles for floating can also be aligned.
 Furthermore, in the above-mentioned embodiment, the magnetic body member
 62X was used as a member that supports the armature coil 63X in the
 stationary part 60X, but a non-magnetic body member can also be used.
 Furthermore, a non-magnetic body member 62Y was used as a member that
 supports the armature coil 63Y in the stationary 60Y, but a magnetic body
 member can also be used.
 Furthermore, in the above-mentioned embodiment, the magnets where the
 magnetic direction is different from the Z-axis direction were combined to
 form the driving magnetic pole units, but it is also acceptable to
 structure the driving magnetic pole units by combining a flat magnetic
 body member with a plurality of magnets where the magnetic direction is
 the Z-axis direction.
 Additionally, in the above-mentioned embodiment, three-phase current was
 supplied to the coil row, but it is also possible to supply a plurality of
 phases of the current that is different from three phases. At this time,
 the width of the current path of the armature coil must be determined in
 response to the number of phases of the current to be supplied.
 Furthermore, in the above-mentioned embodiment, permanent magnets are
 arrayed in the movable elements (driving magnetic pole units) and the
 reaction force cancellation magnetic pole units, and armature coils are
 arrayed in the stationary part. However, it is also possible to array the
 armature coils in the movable elements and the reaction force cancellation
 magnetic pole units, and to array the permanent magnets in the stationary
 part. Such an arrangement is particularly advantageous when an electron
 beam is used to expose the substrate because the changing magnetic field
 caused by stage motion is much smaller.
 In addition, in the above-mentioned embodiment, the reaction force
 cancellation magnetic pole units are disposed corresponding to two
 respective corners that have a diagonal relationship with the respective
 stationary parts, but the reaction forces can be canceled by disposing the
 reaction force cancellation magnetic pole units in three comers.
 Furthermore, reaction forces can be canceled by disposing reaction force
 cancellation magnetic pole units that do not all generate force in the
 same direction in three or more arbitrary stationary parts.
 In addition, a cooling liquid was used for cooling of the armature coil in
 the above-mentioned embodiment, but gas coolant can be used, as long as it
 is a fluid that can be a coolant.
 Furthermore, the number of wafer stages WST to be disposed is not limited
 to one. For example, as shown in FIG. 33, two wafer stages WST may be
 disposed and driven independently, and it is acceptable to perform another
 operation, such as the receipt of the wafer W, on one wafer stage WST
 while the exposure of the wafer is being performed using the other wafer
 stage WST.
 While the present invention has been described with reference to preferred
 embodiments thereof, it is to be understood that the invention is not
 limited to the disclosed embodiments or constructions. To the contrary,
 the invention is intended to cover various modifications and equivalent
 arrangements. In addition, while the various elements of the disclosed
 invention are shown in various combinations and configurations, which are
 exemplary, other combinations and configurations, including more, less or
 only a single element, are also within the spirit and scope of the
 invention.