PATENT ABSTRACT
Transportation control in a vacuum processing device with high transportation efficiency without lowering throughput is provided. A control unit is configured to update in real time and holds device state information showing an action state of each of a process chamber, a transportation mechanism unit, a buffer room, and a holding mechanism unit, the presence of a process subject member, and a process state thereof; select a transport algorithm from among transport algorithm judgment rules that are obtained by simulating in advance a plurality of transport algorithms for controlling transportation of a process subject member for each condition of a combination of the number and arrangement of the process chambers and process time of a process subject member based on the device state information and process time of the process subject member; and compute a transport destination of the process subject member based on the selected transport algorithm.

PATENT DESCRIPTION
CLAIM OF PRIORITY 
     The present application claims priority from Japanese application serial no. JP2011-241068, filed on Nov. 2, 2011, the content of which is hereby incorporated by reference into this application. 
     BACKGROUND OF THE INVENTION 
     1) Field of the Invention 
     The present invention relates to a vacuum processing device that is used to process a substrate-like wafer such as a semiconductor wafer and a liquid crystal display, and performs processes such as fine patterning using a plurality of types of gas, and a method of transporting a sample that is a process subject in the vacuum processing device. 
     2) Description of the Related Art 
     A vacuum processing device includes a processing unit including a vacuum container having a vacuum process chamber therein, an evacuation device, a plasma forming device and the like, and productivity is required to be improved with lower costs for such a vacuum processing device. It is an important task to make process efficiency per device higher by improving throughput (the number of substrates processed per unit time) as a representative example of productivity indices. In the following, a semiconductor processing device is explained as an example just like a sample to be a process subject in a vacuum processing device is called a wafer, but the present invention is not limited to a semiconductor processing device. Also, although throughput is explained as a representative example of productivity indices, the same applies to another productivity index such as a turn-around time, and the present invention is not limited to throughput. 
     In a process of a semiconductor processing device which is one application a vacuum processing device, there is a step of a process performed on a wafer such as a semiconductor wafer that is a process subject wafer under vacuum such as a plasma process including an etching process, and in order to perform such a process with high throughput, namely to improve process efficiency per device, a semiconductor processing device in which a plurality of process chambers is installed is used. Normally, a known semiconductor processing device includes a vacuum process chamber and an atmospheric transport chamber that is under a normal pressure. 
     A cassette (FOUP) that houses a predetermined number of wafers, for example 25, is attached to a front surface side of the above-described semiconductor processing device, a transportation robot takes out wafers from the cassette one by one to transport the wafers to a load lock to switch from atmospheric pressure to vacuum, the wafers are carried from the load lock in which pressure is reduced by vacuum evacuation into any of vacuum process chambers where a process is performed via a transportation path with reduced pressure, and then the process is performed. When the process ends, the wafers are carried out to go through the path that the wafers went through when they were carried in in a reverse direction to return to a space under atmospheric pressure via the load lock. Thereafter, the wafers return to the same positions in the same cassette where the wafers were before they were carried out by the transportation robot. This is a general order of actions when a semiconductor processing device processes a wafer. 
     As such a semiconductor processing device, a device with a structure called a cluster tool in which a vacuum process chamber is connected radially around a transport chamber is widely used. However, the cluster tool device requires a large installation area, and in particular with an increase in diameters in recent years, the installation area has been becoming larger and larger. To cope with the problem, a device with a structure called a linear tool has appeared to realize both a smaller installation area and improved throughput. A characteristic of the linear tool is that it has a plurality of transport chambers, a vacuum process chamber is connected to each transport chamber, and the transport chambers are mutually connected directly or interposing spaces for passing wafers (hereinafter, buffer room) therebetween. 
     The linear tool has a mechanism that allows transportation of wafers by a plurality of transportation robots to a plurality of vacuum process chambers in parallel by including the plurality of transportation robots the number of which used to be one in a conventional semiconductor processing device, thus realizing high throughput. 
     Although a structure of the linear tool that realizes improvement of throughput while making an installation area smaller has been proposed, a technique for shortening process time and making transportation efficient is also important for throughput improvement. However, transportation control having been applied to a cluster tool is targeted at a single transportation robot, and when the transportation control is applied as it is for a linear tool including a plurality of transportation robots, throughput is lowered in some cases. 
     As a representative method of transportation control in a cluster tool, there is a procedure of control by transporting wafers to process chambers starting in order with those where processes have ended earlier. When the procedure is applied to a linear tool, it is possible to realize high throughput if process time required for processing wafers is approximately the same for process chambers. However, if different types of products are processed in parallel in process chambers, process time in each process chamber depends on the type of a product, and timing at which each process ends differs often. 
     In such a situation, it may be possible to conceive of simply transporting a next wafer just after a process in a process chamber among a plurality of process chambers ends. At this time, when process time of a wafer to be transported next to a process chamber where a process has ended is long, although it may depend on the number and arrangement of process chambers in the semiconductor processing device, a transportation path for a wafer planned to be processed in a process chamber whose process time is short may be blocked, meaning that the wafer should have been transported to the process chamber beforehand. As a result, throughput is lowered. 
     One effective means to improve throughput of a vacuum processing device in which a plurality of process chambers is installed is to disperse loads of transportation robots. For this purpose, Japanese Patent Application Laid-Open Publication No. 2009-94530 discloses that higher throughput as compared with a conventional vacuum processing device is realized by providing a plurality of transportation robots the number of which used to be one in the conventional device, and transporting wafers to a plurality of vacuum process chambers in parallel. However, regarding a section to control the plurality of transportation robots, Japanese Patent Application Laid-Open Publication No. 2009-94530 only mentions that the transportation robots pass wafers among them. In an actual operation of a semiconductor processing device, process time in a process chamber differs depending on a wafer processed in the process chamber. Also, for this reason, a transportation control procedure of transporting wafers simply to process chambers starting in order with those where processes have ended earlier in a linear tool including a plurality of transportation robots has a problem that throughput is lowered in some cases depending on process time of wafers processed in each process chamber. 
     Also, an efficient transportation method differs depending on a step of a process on a wafer in some cases. One process step may complete by a single process in a process chamber, and another process step may complete by performing processes a plurality of times. Furthermore, an efficient transportation method differs depending on operation conditions. Under one operation condition, a process chamber where a wafer is planned to be processed may be changed freely at any time, and under another operation condition, a process chamber where a process is planned may not be changed once transportation of a wafer is started from an initial position. The operation condition that a process chamber where a wafer is planned to be processed is changed freely at any time means that process conditions such as types of gas to be used in processes are the same for a plurality of process chambers, and quality of a wafer after a process is not affected no matter in which process chamber the wafer is processed. Also, the operation condition that a process chamber where a process is planned may not be changed once transportation of a wafer is started from an initial position means that although process conditions such as types of gas to be used in processes are the same for a plurality of process chambers, an  121  of minute adjustment of process conditions according to a wafer-specific state such as film thickness is performed once a process chamber where a wafer is planned to be processed is decided or process conditions such as types of gas to be used in processes are different for process chambers. 
     SUMMARY OF THE INVENTION 
     An object of the present invention is to include a linear-tool type semiconductor processing device that includes transportation control with high transportation efficiency when different types of products are processed in parallel in process chambers regardless of the number and arrangement of the process chambers under an operation condition that a process chamber where a process is planned cannot be changed once transportation of a wafer is started from an initial position in a process step that completes by performing a process once in a process chamber. 
     In order to address the problems, a vacuum processing device according to an aspect of the present invention includes: a load lock that takes in a process subject member placed on an atmosphere-side to a vacuum-side; a plurality of process chambers that are connected to a transport chamber provided on the vacuum-side and perform a predetermined process on the process subject member; a plurality of transportation mechanism units that include a vacuum robot that performs passing and transportation of the process subject member; a plurality of buffer rooms that interconnect the transportation mechanism units and in which the process subject member is placed to be relayed; a holding mechanism unit that provided in the load locks and the buffer rooms and holds a plurality of the process subject members; and a control unit that controls passing and transportation of the process subject member, wherein the control unit updates in real time and holds device state information showing an action state of each of the process chambers, the transportation mechanism units, the buffer rooms, and the holding mechanism unit, the presence of the process subject member, and a process state thereof, the control unit having a section that selects a transport algorithm from among transport algorithm judgment rules that are obtained by simulating in advance a plurality of transport algorithms for controlling transportation of the process subject member for each condition of a combination of the number and arrangement of the process chambers and process time of a process subject member based on the device state information and process time of the process subject member; and a section that computes a transport destination of the process subject member based on the selected transport algorithm. 
     In order to address the problems, in the vacuum processing device according to an aspect of the present invention, the section of the control unit that selects the transport algorithm reads out process chamber information about an activation state from the device state information, and selects a transport algorithm that is predicted to provide a highest throughput value from among transport algorithm judgment rules that are obtained by simulating in advance a plurality of transport algorithms for controlling transportation of the process subject member for each condition of a combination of the number and arrangement of the process chamber and process time of a process subject member based on the device state information and process time of the process subject member. 
     Also, in order to address the problems, in the vacuum processing device according to an aspect of the present invention, assuming that the transportation mechanism units are classified into a first transportation mechanism unit that performs direct passing and transportation of the process subject member from the load lock to the process chamber; a second transportation mechanism unit that receives the process subject member from the load lock via the first transportation mechanism unit and the buffer room, and passes and transports the process subject member to a process chamber; a third transportation mechanism unit that receives the process subject member from the second transportation mechanism unit via the buffer room, and passes and transports the process subject member to a process chamber; and an n-th transportation mechanism unit, a plurality of transport algorithms for controlling transportation of the process subject member is defined by a ratio of the number of the process subject members that are passed and transported to a process chamber by the first transportation mechanism unit; the number of the process subject members that are passed and transported to a process chamber by the second transportation mechanism unit; the number of the process subject members that are passed and transported to a process chamber by the third transportation mechanism unit; and the number of the process subject members that are passed and transported to a process chamber by the n-th transportation mechanism unit, the numbers of the process subject members being obtained by dividing the number of the process subject members transported from the load lock. 
     The present invention provides a vacuum processing device that provides transportation control with high transportation efficiency under any process condition of the number and arrangement of process chambers, process time in the process chambers and the like. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a diagram that explains an outline of an overall configuration of a semiconductor processing device; 
         FIG. 2  is a diagram that explains a configuration of a mechanical unit of the semiconductor processing device; 
         FIG. 3  is a diagram that explains a wafer holding structure of the mechanical unit of the semiconductor processing device; 
         FIG. 4  is a diagram that explains an overall flow of an action control system of the semiconductor processing device; 
         FIG. 5  is a diagram that explains a process and input/output information in action instruction calculation; 
         FIG. 6  is a diagram that explains a process and input/output information in transport destination calculation; 
         FIG. 7  is a flowchart that explains a detailed calculation process in transport destination variation judgment; 
         FIG. 8  is a flowchart that explains a detailed calculation process in transport destination algorithm calculation; 
         FIG. 9  is a flowchart that explains a detailed calculation process in transport destination variation calculation; 
         FIG. 10  is a diagram that shows an example of a screen in a console terminal; 
         FIG. 11  is a table that shows an example of device state information; 
         FIG. 12  is a table that shows an example of transport destination information; 
         FIG. 13  is a table that shows an example of action instruction rule information; 
         FIG. 14  is a table that shows an example of action instruction information; 
         FIG. 15  is a table that shows an example of action instruction rule information; 
         FIG. 16  is a table that shows an example of transport destination calculation triggers; 
         FIG. 17  is a table that shows an example of process subject information; 
         FIG. 18  is a table that shows an example of a transport algorithm library; 
         FIG. 19  is a table that shows an example of transport algorithm judgment rules; 
         FIG. 20  is a diagram that explains an example of simulation; and 
         FIG. 21  is a table that shows an example of process chamber information. 
     
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     Hereinafter, an embodiment of the present invention is explained with reference to drawings. 
     An outline of an overall configuration of a semiconductor processing device according to the present invention is explained with reference to  FIG. 1 . The semiconductor processing device is composed of, explaining roughly, a mechanical unit  101  including a process chamber and a transportation mechanism, an action control unit  102 , and a console terminal  103 . The mechanical unit  101  is configured with a process chamber that can perform processes such as etching and deposition on wafers, and a transportation mechanism included a robot and the like that performs transportation of the wafers. The action control unit  102  is a controller that controls actions of the process chamber and the transportation mechanism, and is composed of an arithmetic operation unit  105  that performs arithmetic operation processes and a storage unit  106  that stores various types of information. 
     The arithmetic operation unit  105  includes: a control mode setting unit  107  that switches processes inside a control system according to a control mode of “Manual” or “Automatic” designated by a user; an action instruction calculating unit  108  that performs arithmetic operations for making the process chamber and the transportation mechanism act actually; a transport algorithm calculating unit  109  that performs calculation for selecting a transport algorithm from among a plurality of algorithms; a transport destination variation judgment calculating unit  110  that performs calculation for judging whether to calculate a transport destination; and a transport destination decision calculating unit  111  that performs calculation to decide a process chamber to which each wafer is transported based on a selected transport algorithm. 
     In the storage unit  106 , information such as device state information  112 , process subject information  113 , action instruction information  114 , action sequence information  115 , transport destination information  116 , action instruction rule information  117 , process chamber information  118 , a transport algorithm library  119 , transport algorithm judgment rules  120 , and transport destination calculation triggers  121  are stored. 
     The console terminal  103  is for a user to input a control method, and confirm a state of a device, and includes input equipment such as a keyboard, a mouse, and a stylus, and a screen that outputs information. Also, the semiconductor processing device is connected to a host computer  104  via a network  122 , and can download from the host computer  104  necessary information including a recipe such as a type and concentration of gas utilized for a process and standard time required for the process when necessary. 
     Next, a configuration of the mechanical unit including the process chamber and the transportation mechanism is explained with reference to  FIG. 2 .  FIG. 2  is a bird&#39;s-eye view of the mechanical unit seen from a top surface thereof. The mechanical unit is roughly divided into an atmosphere-side mechanical unit  234  and a vacuum-side mechanical unit  235 . The atmosphere-side mechanical unit  234  performs transportation and the like of wafers such as taking out a wafer from a cassette where the wafer is housed, and housing a wafer in the cassette under atmospheric pressure. The vacuum-side mechanical unit  235  performs transportation of a wafer under pressure that is reduced from the atmospheric pressure, and performs a process in a process chamber. Then, a load lock  211  in which pressure is increased and decreased between the atmospheric pressure and vacuum in a state that a wafer is retained therein is included between the atmosphere-side mechanical unit  234  and the vacuum-side mechanical unit  235 , and the load lock  211  mediates distribution of wafers to either the atmosphere-side mechanical unit  234  or the vacuum-side mechanical unit  235 . 
     The atmosphere-side mechanical unit  234  includes load ports  201 ,  202 , an aligner  236 , evacuation stations  232 ,  233  for evacuation of a processed wafer temporarily, an atmospheric robot  203 , and a housing  204  that covers a movable area of the atmospheric robot. A cassette (FOUP) housing a process subject wafer is placed on the load ports  201 ,  202 . Then, the atmospheric robot  203  having a hand that can hold a wafer takes out a wafer housed in the cassette to transport the wafer into the load lock  211 , or conversely takes out a wafer from inside the load lock  211  to house the wafer in the cassette (FOUP). Also, the atmospheric robot  203  houses a wafer taken out from the load lock  211  in the evacuation stations  232 ,  233 , or house a wafer taken out from the evacuation stations  232 ,  233  in the cassette. This atmospheric robot  203  can expand and contract a robot arm, move the robot arm vertically, and rotate the robot arm; furthermore, the atmospheric robot  203  can move inside the housing  204  horizontally. Also, the aligner  236  is a machine for aligning orientations of wafers. It is of note that the atmosphere-side mechanical unit  234  is merely an example, and the device of the present invention is not limited to a device having two load ports, but the number of load ports may be less than or more than two. In addition, the device of the present invention is not limited to a device having one atmospheric robot, but may have a plurality of atmospheric robots. In addition, the device of the present invention is not limited to a device having one aligner, but may have a plurality of aligners, or may not have an aligner. In addition, the device of the present invention is not limited to a device having the two evacuation stations for temporary evacuation of wafers so that the number matches with the number of the load ports, but may have more than or less than two evacuation stations, or may not have an evacuation station. 
     The vacuum-side mechanical unit  235  includes process chambers  205 ,  206 ,  207 ,  208 ,  209 ,  210 , transport chambers  214 ,  215 ,  216 , and buffer rooms  212 ,  213 . The process chambers  205 ,  206 ,  207 ,  208 ,  209 ,  210  perform processes such as etching and deposition on wafers. These chambers are connected to the transport chambers  214 ,  215 ,  216 , respectively, via gate valves  222 ,  223 ,  224 ,  225 ,  226 ,  227 . The gate valves  222 ,  223 ,  224 ,  225 ,  226 ,  227  can be opened and closed to partition and communicate spaces inside the process chambers and spaces inside the transport chambers. 
     The transport chambers  214 ,  215 ,  216  include vacuum robots  217 ,  218 ,  219 , respectively. The vacuum robots  217 ,  218 ,  219  include hands that can hold wafers, and robot arms can be expanded and contracted, rotated, and moved vertically to transport wafers to a load lock, a process chamber, and a buffer room. 
     The buffer rooms  212 ,  213  are connected between the transport chambers  214 ,  215 ,  216 , and include a mechanism to hold a wafer. With the vacuum robots  217 ,  218 ,  219  placing wafers in the buffer rooms  212 ,  213  and taking out wafers from the buffer rooms  212 ,  213 , wafers can be passed and received among the transport chambers. The buffer rooms  212 ,  213  are connected to the transport chambers  214 ,  215 ,  216 , respectively, via gate valves  228 ,  229 ,  230 ,  231 . The gate valves  228 ,  229 ,  230 ,  231  have valves that open and close, and can partition and communicate spaces inside the transport chambers and spaces inside the buffer rooms. It is of note that the vacuum-side mechanical unit  235  is merely an example, the device of the present invention is not limited to a device having six process chambers, and the number of process chambers may be less than or more than six. Also, although in the present embodiment, the device is explained as one in which two process chambers are connected to one transport chamber, the device of the present invention is not limited to a device in which two process chambers are connected to one transport chamber, but may be a device in which one process chamber is connected to one transport chamber or three or more process chambers are connected to one transport chamber. In addition, the device of the present invention is not limited to a device having three transport chambers, but the number of the transport chambers may be less than or more than three. Also, although in the present embodiment, the device is explained as one including a gate valve between a transport chamber and a buffer room, there may not be a gate valve. 
     The load lock  211  is connected to the atmosphere-side mechanical unit  234  and the vacuum-side mechanical unit  235  via gate valves  220 ,  221 , respectively and can increase and decrease pressure between the atmospheric pressure and vacuum while retaining a wafer therein. 
     Next, a structure to hold a wafer is explained with reference to  FIG. 3  which is a bird&#39;s-eye view of the mechanical unit seen from a side surface thereof. A wafer can be held by a load lock  305  and buffer rooms  310 ,  315 . These load lock  305  and buffer rooms  310 ,  315  hold a wafer at a structure that can hold a plurality of wafers separately (hereinafter, holding step). Although it is physically possible to place any wafer on any holding step, only unprocessed wafers are placed on some of holding steps, and only processed wafers are placed on some other holding steps in a general operation. This is because corrosive gas utilized for processes is adhered on processed wafers and may be left on holding steps, and when unprocessed wafers come into contact with the gas, the wafers may degenerate, degrading quality of the wafers. Accordingly, for example, in a case that there are four holding steps in a load lock as shown in  FIG. 3 , two steps are holding steps for unprocessed wafers, and remaining two steps are holding steps for processed wafers in an operation. 
     It is of note that a reference numeral  301  denotes a cassette (FOUP) placed in a load port; a reference numeral  302  denotes a housing that covers a movable area of an atmospheric robot; a reference numeral  303  denotes an atmospheric robot; reference numerals  307 ,  312 ,  318  denote transport chambers; reference numerals  308 ,  313 ,  317  denote vacuum robots; reference numerals  304 ,  306 ,  309 ,  311 ,  314 ,  316  denote gate valves; and reference numerals  319 ,  320 ,  321 ,  322 ,  323 ,  324 ,  325  denote wafers. 
     Next, an overall flow of an action control system of the semiconductor processing device according to the present invention is explained with reference to  FIG. 4 . It is of note that, in the following explanation about the present embodiment, a linear tool handles a single step process that completes a process on a wafer by performing a single process in a designated vacuum process chamber, but the system can be expanded to a multiple-step process as a case of simulation in  FIG. 20  shows an example of a two-step process of performing two processes in difference process chambers. Also, it is assumed that transportation is performed under an operation condition that a process chamber where a process is planned cannot be changed once transportation of a wafer is started from an initial position. 
     A user can select either “Manual” or “Automatic” for a control mode on a console screen  401 , and a control mode setting unit  107  receives the selection, and starts control in the selected mode. Here, a process to be executed changes according to a selected control mode. For example, when “Manual” is designated as the control mode, manual transport destination setting  404  is executed. On the other hand, when “Automatic” is designated as the control mode, and conditions for a transport destination calculation trigger are met, a transport destination calculation  407  is executed. It is of note that in a case that the control mode “Automatic” is not cancelled, the transport destination calculation  407  is executed when conditions for a transport destination calculation trigger are met. 
     Both the arithmetic operation processes  404 ,  407  decide a transport destination process chamber for a wafer to be charged, and output transport destination information  405  as an output. Based on the transport destination information  405  and device state information  408 , in action command calculation  409 , an action command  410  is calculated, and a mechanical unit  411  performs an action based on the action command  410 . Then, by performing the action, a state in the device changes, and the device state information  408  is updated. Then again, based on the transport destination information  405  and the device state information  408 , in the action command calculation  409  launched by the update of the device state information  408 , the action command  410  is calculated, and the mechanical unit  411  performs a next action. 
     Also, the arithmetic operation process  407  that decides a transport destination process chamber automatically is executed every time a transport destination for a new process subject wafer is decided, and updates the transport destination information  405 . For example, when the atmospheric robot  203  ends transportation for placing a wafer on a load port, and enters a state that it can perform transportation of a new wafer, this triggers a launch of the transport destination calculation  407  to update a transport algorithm and execute the transport algorithm; thereby, a transport destination for the new wafer is calculated. 
     The present invention relates to a control method when the control mode “Automatic” is selected, and hereinafter a control method when the control mode “Automatic” is selected is explained. Accordingly, the transport destination deciding calculation means the transport destination calculation  407 . 
     First, the action command calculation  409  shown in  FIG. 4  is explained in detail with reference to  FIG. 5 .  FIG. 5  is a diagram that shows a relationship between a process and input/output information of the action command calculation  409  executed by the action instruction calculating unit  108  in detail. The action command calculation  409  is configured with two arithmetic operation processes of action instruction calculation  505  and action command generation  507 . 
     In the action instruction calculation  505 , device state information  501 , transport destination information  502 , and action instruction rule information  503  are input to output action instruction information  506 . 
     The device state information  501  ( 112 ) is exemplified in  FIG. 11 , and has data items of a “portion” column identifying a portion on which a wafer is placed, a portion in which a wafer is processed, or a portion that grips a wafer; a “state” column identifying a process or a state of activation of the portion; a “wafer number” column identifying a wafer that is placed on, processed in, or gripped by the portion, or availability; and a “wafer state” column representing a state of a wafer shown in the “wafer number” column. For example, data “portion: load lock  211 _step 1, state: vacuum, wafer number: W 11 , wafer state: unprocessed” shows a state of a first step among the holding steps in the load lock  211  and means that the load lock is in a vacuum state, a wafer with a wafer number W 11  is held, and the wafer W 11  is an unprocessed wafer. Here, a wafer that has not been processed is an “unprocessed” wafer, a wafer that is currently being processed in a process chamber is an “in-process” wafer, and a wafer that has been processed is a “processed” wafer. A sensor is attached to each of the portions of the mechanical unit of the semiconductor processing device according to the present invention, senses a change in a state of each of the portions, or confirms a change of the wafer state when the vacuum robot passes a wafer, and at each time point, the device state information  501  ( 408 ,  112 ) is updated about a state of each portion or a wafer state. 
     The transport destination information  502  ( 116 ) is exemplified in  FIG. 12 , and identifies a transport destination process chamber for each wafer. 
     The action instruction rule information  503  ( 117 ) is exemplified in  FIG. 13 , and has data items of an “action instruction” column for transportation of a wafer at a starting point of transportation to a transport destination, and an “action instruction condition” column describing conditions that have to be met for performing the transportation in the “action instruction” column. For example, an action instruction “transport from the load lock  211  to the buffer room  212 ” means that the instruction is followed when conditions that “there is an unprocessed wafer whose transport destination is other than the process chambers  205 ,  206  in the load lock  211 , and the load lock  211  is in a vacuum state”, “there is an available holding step in the buffer room  212 ”, and “at least one hand of the vacuum robot  217  is in a stand-by state” are met. 
     The action instruction information  506  ( 114 ) is exemplified in  FIG. 14 , has data items of transporting portion, transport subject, starting point of transportation, and transport destination, and has action instructions of transportation and wafer numbers of transport subject wafers. 
     In the action instruction calculation  505 , the device state information  501  and the transport destination information  502  are referred to, an action instruction for which all action instruction conditions of the action instruction rule information  503  are met is extracted, and the action instruction is output as the action instruction information  506 . 
     In the action command generation  507 , the action instruction information  506  and action sequence information  504  are input to output an action command  508 , and the action command is transmitted to the mechanical unit. 
     The action sequence information  504  ( 115 ) is exemplified in  FIG. 15 . The action sequence information  504  ( 115 ) describes a specific action content of each portion for the action instruction such as an action of the atmospheric robot and the vacuum robot, an opening/closing action of gate valves of a load lock, a buffer room, and a process chamber, and an action of a pump that vacuums a load lock, and means that actions are executed starting with that with the smallest action order number. The action sequence information  504  is defined associated with each action instruction. 
     In the action command generation  507 , for the action instruction read out from the action instruction information  506 , action sequence data of the corresponding action instruction is extracted from the action sequence information  504 , and is transmitted as the action command  508  ( 410 ) to the mechanical unit starting with that with the smallest action order number. 
     Next, the transport destination calculation  407  shown in  FIG. 4  is explained in detail with reference to  FIG. 6 .  FIG. 6  is a diagram that shows a relationship between a process and input/output information of the transport destination calculation  407  in detail. The transport destination calculation  407  is configured with three arithmetic operation processes of transport destination variation judgment  607 , transport algorithm calculation  609 , and transport destination updating calculation  611 . 
     In the transport destination variation judgment  607  executed by the transport destination variation judgment calculating unit  110 , device state information  601  ( 112 ) and transport destination calculation triggers  602  are input to output a transport destination calculation command  608 .  FIG. 7  shows a flowchart of the transport destination variation judgment  607 . First, at a process step  701 , the device state information  601  and the transport destination calculation triggers  602  are acquired. 
     The transport destination calculation triggers  602  ( 121 ) are information exemplified in  FIG. 16 , and include portions of the device, and information about events at the portions. When the device portion described in the transport destination calculation triggers  602  enters a state of the event, an event signal is issued from the device, and the result is reflected in an update of the device state information  601  ( 112 ). When the device state information  601  and the transport destination calculation triggers  602  are compared with each other, and a record (portion and state) of device state information that matches with a record (portion and event) in the transport destination calculation triggers  602  is discovered, the transport destination calculation command  608  is output. When a matching condition is not discovered, the device state information  601  is updated routinely, and examination is repeated. 
     In the transport algorithm calculation  609  executed by the transport algorithm calculating unit  109 , the transport destination calculation command  608  is received, and the device state information  601 , process subject information  603  ( 113 ), a transport algorithm library  604  ( 119 ), and transport algorithm judgment rules  605  ( 120 ) are input to output a transport algorithm  610 . 
     The process subject information  603  ( 113 ) is exemplified in  FIG. 17 , and is information in which wafer numbers and process time of process subject wafers are described. 
     The transport algorithm library  604  ( 119 ) is exemplified in  FIG. 18 , and is information in which transport algorithms and decision conditions of transport destinations based on each transport algorithm are described. In  FIG. 18 , algorithms in which ratios of the numbers of pieces transported by each vacuum robot are varied are shown as an example of the transport algorithms. Here, the number of wafers (L 1 ) transported to the process chambers  205 ,  208  by the vacuum robot  217 , the number of wafers (L 2 ) transported to the process chambers  206 ,  209  by the vacuum robot  218 , and the number of wafers (L 3 ) transported to the process chambers  207 ,  210  by the vacuum robot  219  shown in  FIG. 2  are compared with each other to calculate the ratio, L 1 :L 2 :L 3 . When a ratio is 0, the corresponding vacuum robot does not transport a wafer. For example, when L 3  is 0, the vacuum robot  219  does not transport a wafer. Furthermore, between two process chambers to which a wafer is transported by a same vacuum robot, a process chamber with the smallest number, e.g. the process chamber  205  among the process chambers  205 ,  208 , is prioritized, and wafers are transported to each of the process chambers alternately. Also, among process chambers with different links, a vacuum robot with the smallest number, e.g. the vacuum robot  217  between the vacuum robots  217 ,  218 , is prioritized, wafers are transported by the vacuum robots  217 ,  218 , and  219  in this order one by one, and thereafter transportation is performed in the same order as long as a condition about the ratio of the numbers of pieces is satisfied. At this time, if the ratio is L 1 :L 2 :L 3 =2:1:1, after each vacuum robot transports a single wafer, the vacuum robot  217  transports another wafer to a process chamber, and the same action is repeated. Although in  FIG. 18 , transport algorithms using ratios of the numbers of pieces transported by the vacuum transportation robots are explained, the transport algorithm may be such that a wafer is transported to a process chamber in order every time a process in the process chamber ends, and the transport algorithms are not limited to the ones that are shown in  FIG. 18 . The transport algorithm library  604  ( 119 ) may be stored in advance in the storage unit  106  or may be stored in the host computer  104  as a database and searched therefrom. 
     The transport algorithm judgment rules  605  ( 120 ) are information exemplified in  FIG. 19 , and information in which conditions for selecting a transport algorithm with high throughput from among conditions such as the numbers and arrangement, and process time of active process chambers are described. A data table of rules shown in  FIG. 19  summarizes transport algorithms with the highest throughput that are selected in advance in the host computer  104  by deciding conceivable combinations of the numbers and arrangement of process chambers, setting process time of each process chamber corresponding to a type of a wafer, executing simulation using each transport algorithm registered in the transport algorithm library under each setting condition, and assessing the throughput, the selected transport algorithms being associated with throughput values based on each transport algorithm. 
     Here, the simulation means a calculation procedure of juxtaposing actions that are performed in turn at each time. As a calculation example of the simulation, simulation is performed assuming that when a lot on which wafers with wafer numbers W 1 , W 2 , W 3  are mounted arrives at the semiconductor processing device, another lot is in process, a wafer with a wafer number W 0  in the lot is in process in the process chamber  4 , and remaining process time is 35. Also, a rule is that wafers are charged in the order of W 1 , W 2 , and W 3 . To simplify the explanation, in this example, an action of an external transporting portion and an action of a gate valve are omitted, and only actions of the transportation robot and the process module are simulated. 
     In the following, the action simulation is explained with reference to  FIG. 20 . 
     Hereinafter, a load lock is abbreviated as LL, a process chamber PM, a vacuum robot VR, and a buffer room WS. First, a process starts at time  0  when W 1  is stored in LL, a wafer is not stored in PM 1 , PM 2 , and W 0  is stored in PM 4  and is in process. In this case, an action start condition for VR 1  to carry W 1  out of LL into PM 1  is met. Then, the action is juxtaposed as shown in the drawing. Next, one of the actions is completed, and the time is advanced to a time when there is a possibility that an action start condition changes. In this example, an action by VR 1  of LL→PM 1  (W 1 ) requires time  10 . Then, the time is advanced to 10. Here, it is checked whether there is an action that meets an action start condition. An action start condition for a process in PM 1  is met because W 1  is transported to PM 1 . Then, an action of a process on W 1  in PM 1  is juxtaposed with the time  10  as a starting point. Next, the time is advanced to 30 because process time for W 1  in PM 1  is 20. Here, the action is juxtaposed with the time  30  as a starting point because an action condition for an action by VR 1  of PM 1 →PM 2  (W 1 ), and an action start condition for VR 2  of PM 4 →WS 1  (W 0 ) after completion of a process on W 0  in PM 4  are met. Next, when the time is advanced to 35, an action by VR 2  of PM 4 →WS 1  (W 0 ) completes. Here, although there is not an action for which action start conditions are met, a condition that there is a processed wafer in WS 1 , which is one of action start conditions for VR 1  of WS 1 →LL (W 0 ), is met, and the process waits for a state that VR 1  does not hold a wafer. Here, it is assumed that at time  40 , an external transporting portion stores W 2  in LL. Then, when the time is advanced to 40, VR 1  no longer holds a wafer, and action start conditions for VR 1  of WS 1 →LL (W 0 ), for VR 1  of LL→PM 1  (W 2 ), and for a process on W 1  in PM 2  are met, respectively. Here, WS 1 →LL (W 0 ) and LL→PM 1  (W 2 ) are both actions of VR 1 , and cannot be performed simultaneously. Then, following a priority rule of prioritizing an action for which action start conditions are met earliest, the action by VR 1  of WS 1 →LL (W 0 ) is prioritized in this example because the action has waited for a state that a wafer is not held by VR 1  from a time point of the time  35 . Also, WS 1 →LL (W 0 ) by VR 1  and the process on W 1  in PM 2  end up being juxtaposed with the time  40  as a starting point because a process on W 1  can be performed in PM 2  in parallel. Next, when the time advances to 45, the action is juxtaposed with time  45  as a starting point because an action start condition by VR 1  of LL→PM 1  (W 2 ) is met. This process of juxtaposing actions while advancing the time is repeated on all process subject wafers until all the actions of ending processes and carrying out the wafers to the outside are juxtaposed. In this example, juxtaposition of all actions ends by juxtaposing an action of transportation PM 2 →LL of W 3  by VR 1 . 
     A completion time of an action whose completion time is the last among all actions can be obtained from a result of the simulation. Throughput that is the number of processed wafers per unit time can be computed by dividing the number of processed wafers by the required time because the time is required for transportation and process. For example, in the case of the example in  FIG. 20 , the last action is PM 2 →LL (W 3 ) by VR 1 , and the time is 165. Accordingly, the throughput for a transportation route candidate number 1 is 3/165≈0.018. An estimated value of throughput shown in  FIG. 19  can be obtained by performing the above-described simulation and throughput computation for all conceivable combinations of the number and arrangement of process chambers, and combinations of process time using all applicable transport algorithms in the transport algorithm library, and a transport algorithm is selected by comparing throughput values in each transport algorithm. 
     A first data record of the transport algorithm judgment rules  605  ( 120 ) in  FIG. 19  means that, for example using the process chambers  205 ,  206 ,  207 ,  208 , a predetermined number of wafers are charged such that process time in the process chambers  205 ,  206  is 25 (S) and process time in the process chambers  207 ,  208  is 10 (S), a transport algorithm  1  and a transport algorithm  2  are selected from the transport algorithm library, and a result obtained by executing simulation for each transport algorithm is that a throughput value of the transport algorithm  2  is the highest at 0.018, and therefore the transport algorithm  2  is selected. Similarly, various data records are created in advance, and stored as the transport algorithm judgment rules  605  ( 120 ) in advance in the storage unit  106  of the action control unit  102  of the semiconductor processing device. Alternatively, in another possible operation, the data records are not kept at the storage unit  106  of the action control unit  102 , but transport algorithm judgment rules are kept in the host computer  104  that creates the transport algorithm judgment rules, and the transport algorithm judgment rules in the host computer  104  are referred to when the semiconductor processing device is active. 
     Also in the transport algorithm judgment rules in  FIG. 19 , although conditions for selecting a transport algorithm are for selecting a transport algorithm that includes high throughput, an index for selecting a transport algorithm is not limited to throughput. Furthermore, in  FIG. 19 , although estimated values of throughput are obtained in advance and held, the estimated values may not be recorded in a data table of the transport algorithm judgment rules because the values are not used at the time of an actual operation. 
     In the transport algorithm calculation  609 , the device state information  601 , process chamber information about activation states in process chamber information  606 , and process time for each wafer in the process subject information  603  are read out, and a data record that suits a condition about process time in the transport algorithm judgment rules is searched for. For example, it is decided to use the process chambers  205  to  208  for a process of wafers this time, a data record in the second line of the transport algorithm judgment rules is searched because the process time of each wafer is 40 (s), and the “transport algorithm  1 ” is read out as a selected transport algorithm. The transport algorithm library  604  is searched using the selected “transport algorithm  1 ” as a keyword, and a condition “L 1 :L 2 :L 3 =1:2:1” for deciding a transport destination by a transport algorithm is read out, and is made to be the transport algorithm  610  to be executed. 
     The process chamber information  606  ( 118 ) is exemplified in  FIG. 21 , and shows an activation status and a process end history of each chamber. A status “Active” means that a process can be performed, and a status “Terminated” means that a process cannot be performed. Also, the process end history shows the order of processes that have ended. Here, when a process is not performed at all, numbers are given to process chambers starting with that with the smallest process chamber number. A detailed calculation process of the transport algorithm calculation  609  is described below. 
     In the transport destination updating calculation  611  executed by the transport destination decision calculating unit  111 , the transport algorithm  610  is input, transport destination information  612  is updated, and the updated transport destination information  612  is output. A detailed calculation process of the transport destination updating calculation  611  is described below. 
     Next, the detailed calculation process of the transport algorithm calculation  609  shown in  FIG. 6  is explained with reference to a flowchart of  FIG. 8 . In the transport algorithm calculation  609 , a transport algorithm is selected as an algorithm for deciding a transport destination of a wafer. First, at a process step  801 , information about an unprocessed wafer in the cassette (FOUP), an activation status of each process chamber, and process time for each wafer is extracted from the device state information  601 , the process chamber information  606 , and the process subject information  603 , respectively. Next, at a process step  802 , the activation status of each process chamber and the process time of an unprocessed wafer remaining in the cassette acquired at the process step  801  are compared with conditions in the transport algorithm judgment rules  605 . The number of times of the comparison between the process time and the conditions equals the number of the process chambers that are judged to be active based on an activation status of each chamber, and the comparison is executed by extracting process time starting with an unprocessed wafer remaining in the cassette with the smallest number. For example, when there are four active process chambers, four unprocessed wafers remaining in the cassette with the smallest numbers are selected, and process time thereof and conditions of algorithm judgment rules are compared to select a transport algorithm. Next, at a process step  803 , when the activation status of each process chamber and the process time of an unprocessed wafer remaining in the cassette meet conditions as a result of the comparison with conditions of the transport algorithm judgment rules  605 , a corresponding transport algorithm is extracted from the transport algorithm library  604 . 
     Next, the detailed calculation process of the transport destination updating calculation  611  shown in  FIG. 6  is explained with reference to a flowchart of  FIG. 9 . First, at a process step  901 , in a process of the transport algorithm calculation  609 , transport conditions of the selected transport algorithm are extracted from the transport algorithm library  604 . Next, at a process step  902 , the transport destination information about each wafer is updated while extracting a process end history from the process chamber information  606  according to the extracted transport conditions. With these processes, the updated transport destination information  612  is output at a process step  903 . 
     Here, the device state information  601  and the process chamber information  606  explained with reference to  FIG. 6  are information obtained by monitoring the mechanical unit, and are routinely updated; also, the process subject information  603  is downloaded from the host computer when a cassette containing process subject wafers arrives at the load port. 
     Finally, the screen of the console terminal  103  shown in  FIG. 1  is explained with reference to  FIG. 10 . The console terminal  103  includes an input unit including a keyboard, a mouse and a stylus, and an output unit including the screen. The screen includes an area  1001  in which a control method is selected, an area  1002  that displays an outline of a device state, and an area  1003  that displays detailed data of the device state. A control mode of either “Manual” or “Automatic” can be selected in the area  1001  in which the control method is selected. Furthermore, when “Automatic” is selected as the control method, whether to handle process chamber uncertainty can be selected. The area  1002  that displays an outline of the device state displays visually the device and a position of a wafer so that it can be grasped where a wafer is easily and conveniently. When the wafer moves, the display position of the wafer is varied accordingly. A circle in the area  1003  in the drawing shows a wafer  1004 . Also, the area  1003  that displays the detailed data of the device state displays a detailed state of a wafer in the device and a detailed state of process chambers and the transportation mechanism.