Position detecting system

Abstract: A position detecting system for detecting the position of a substrate (1, 2) having a surface, with respect to first direction (Z) perpendicular to the surface of the substrate and a second direction perpendicular to the first direction, by use of a mark (3a, 4a) formed on the substrate and having an optical power is disclosed. The system includes a directing device (12) for directing a radiation beam (10a) to the mark so that the radiation beam is deflected by the mark; a sensor (8, 9) for receiving the radiation beam deflected by the mark, wherein the position of the radiation beam incident on the sensor is shiftable in a third direction in accordance with the position of the substrate with respect to the first direction (7) and also is shiftable in a fourth direction, different from the third direction, in accordance with the position of the substrate with respect to the second direction; and a detecting device (102) for detecting the position of the substrate with respect to the first and second directions on the basis of an output of the sensor (8, 9) corresponding to the position of incidence of the radiation beam upon the sensor.

Description: This invention relates to a position detecting system for detecting the position of an article being examined. More particularly, the invention is concerned with a position detecting system effective to detect a positional error and an interval between a mask and a wafer, for example, used for manufacture of semiconductor microcircuit devices. In the field of semiconductor device manufacturing exposure apparatuses, it is known that the interval between a mask and a wafer is measured through an interval measuring device and, after controlling the interval to a predetermined, the wafer is exposed to an integrated circuit pattern on the mask with radiation by which the integrated circuit pattern is transferred to the wafer. Figure 1 is a schematic view of an interval measuring device for use in an exposure apparatus, as proposed in Japanese Laid-Open Patent Application, Laid-Open No. Sho 61-111402. In Figure 1, a mask M and a wafer W are disposed opposed to each other with their surfaces placed in parallel to each other. Light is projected so that it is converged by a lens L1 and at point P S between the mask M and the wafer W. Here, light is reflected by the mask M surface and the wafer W surface and, through a lens L2, the reflected lights are projected and converged at points P W and P M on a screen S surface. The interval between the mask M and the wager W can be measured by detecting the spacing between the spots P W and P M of converged light on the screen S surface. In this type of mask-to-wafer interval measurement, it is not possible to detect the positional relationship between the mask and the wafer with respect to a direction perpendicular to a normal to the mask and wafer surface (i.e. in a lateral direction). Namely, it is not possible to detect any positional deviation between the mask and the wafer. Accordingly, in order to detect such positional deviation, use of a specific positional deviation detecting device is necessary, separately from such an interval measuring device. This leads to a complicated structure and makes it difficult to reduce the size. GB-A-2073950 describes a method and apparatus for achieving alignment between a mask and a wafer by forming arrays of axisymmetric Fresnel zone plates on the mask and wafer, and directing light onto the mask zone plates for transmission through to the wafer zone plates, where the incident radiation is reflected back along its incident path. EP-A-0010998 and US-A-4311389 describe a method for aligning a mask and a wafer, wherein a linear Fresnel zone is formed on the mask, and a reflecting line or grating is formed on the wafer, and light is directed on to the Fresnel zone for transmission through to the reflective line or grating of the wafer. It is accordingly an object of the present invention to provide an improved position detecting system by which the position of an article being examined, with respect to a direction substantially perpendicular to the surface thereof as well as in a direction orthogonal to that direction, can be detected easily. In accordance with one aspect of the present invention there is provided a method of detecting the position of a first object having a surface relative to a second object opposed said first object with respect to a first direction substantially perpendicular to the surface of said first object and a second direction perpendicular to said first direction; the method being characterised by the use of a first optical element provided on said first object and having optical power with respect to said second direction but substantially no optical power with respect to a third direction perpendicular to said first and second directions, and a second optical element provided on said second object and having optical power at least with respect to said second direction; and by the steps of: directing a radiation beam onto said second optical element such that the radiation beam is deflected therefrom onto said first optical element whereby the radiation beam is deflected and projected onto a detection plane, the position of incidence of the deflected radiation beam on said detection plane being shiftable in a fourth direction in accordance with the position of said first object relative to said second object in said first direction and shiftable in a fifth direction, different from said fourth direction, in accordance with the position of said first object relative to said second object in said second direction; detecting the radiation beam deflected by said first optical element in said detection plane; and detecting the position of said first object relative to said second object with respect to said first and second directions on the basis of the position of incidence of the deflected radiation beam at said detection plane with respect to said fourth and fifth directions respectively. In accordance with another aspect the present invention provides a position detecting system for detecting the position of a first object having a surface relative to a second object opposed said first object with respect to a first direction substantially perpendicular to the surface of said first object and a second direction perpendicular to said first direction, wherein a first optical element is provided on said first object and has optical power with respect to said second direction but substantially no optical power with respect to a third direction perpendicular to said first and second directions, and a second optical element is provided on said second object and has optical power at least with respect to said second direction; the system being characterised by: directing means arranged to direct a radiation beam onto said second optical element to cause the radiation beam to be deflected therefrom onto said first optical element from where it is deflected and projected onto a detection plane, the position of incidence of the deflected radiation beam on said detection plane being shiftable in a fourth direction in accordance with the position of said first object relative to said second object in said first direction and shiftable in a fifth direction, different from said fourth direction, in accordance with the position of said first object relative to said second object in said second direction; sensor means positioned to detect the radiation beam deflected by said first optical element in said detection plane; and detecting means adapted to detect the position of said first object relative to said second object with respect to said first and second directions on the basis of the position of incidence of the deflected radiation beam on said sensor means with respect to said fourth and fifth directions respectively. The optical element with optical power, usable in the present invention, serves to converge or diverge a radiation beam inputted thereto, and such an optical element can be considered as having a function equivalent to a lens or, alternatively, a mirror having a curved reflection surface. The use of an optical element having optical power only in said second. direction ensures that the position of the radiation beam incident on the sensor does not shift in the aforesaid third direction with the position of the article (substrate) in the aforesaid second direction. Also, an optical element with such power can serve as a cylindrical lens or a cylindrical mirror, and it is possible to embody a system wherein the shift of the deflected radiation beam in the aforesaid third direction with the displacement of the article (substrate) in the aforesaid second direction, is suppressed. An optical element with optical power usable in the present invention may be provided by forming on a substrate a pattern of a diffraction grating, a convex lens, a concave lens, a convex mirror or a concave mirror. The diffraction grating pattern may be formed by an amplitude type diffraction grating or a phase type diffraction grating. A representative pattern therefor may be that of a Fresnel zone plate. In one preferred form of the present invention, an optical element having a similar function as of a cylindrical lens or a cylindrical mirror is used, by which the radiation beam is deflected in a plane containing the first and fifth directions. Formation of such a beam deflecting element corresponds to the provision of a cylindrical lens or a cylindrical mirror with inclination relative to an optical axis. Also, deflecting the radiation beam makes it possible to arrange the system so that, upon the sensor, the third direction and the fourth direction are placed in an orthogonal relationship. Therefore, when an area sensor such as a CCD sensor having its picture elements arrayed two-dimensionally is used, it is easy to detect the position of the deflected beam with respect to the aforesaid third and fourth directions. In the present invention, for detection of the position of a radiation beam incident on the sensor, the position of a center of gravity or a peak of the intensity distribution of the radiation beam received by the sensor may be detected. Here, the term "center of gravity (of the intensity distribution) of the beam" means such a point that, when in the plane receiving the beam a position vector of each point in that plane is multiplied by the light intensity of that point and the thus obtained products are integrated over the entire plane, the integrated value has a "zero vector". In the present invention, light can be used as the radiation beam. Examples of a light source that produces such light are: a high coherency light source such as a gas laser (e.g., He-Ne laser), a semiconductor laser (LD) and the like; a low coherency light source such as a light emitting diode (LED), a Xe lamp, a Hg lamp and the like; and so on. In the present invention, when light is to be used as the radiation beam, it is preferable to use a monochromatic light or a semi-monochromatic light having a relatively narrow bandwidth. Accordingly, where a Xe lamp or a Hg lamp is to be used, it may preferably be used in combination with a bandpass filter such as an interference filter. The position detecting system of the present invention is particularly effectively usable in an exposure apparatus for manufacture of semiconductor microcircuit devices such as IC, LSI, etc. Embodiments of the present invention will now be described with reference to the accompanying drawings in which:- Figure 1 is a schematic view of a known type interval measuring device. Figure 2 is a schematic view of an alignment system according to a first embodiment of the present invention. Figures 3 and 4 illustrate the power arrangement of grating lenses. Figures 5A and 5B are flow charts, respectively, each showing the sequence of an alignment operation in the system of Figure 2. Figure 6 is a schematic view of an alignment system according to a second embodiment of the present invention. Figure 7 is a schematic view, illustrating the principle of alignment operation in an alignment system according to a third embodiment of the present invention. Figure 8 is a schematic view of an alignment system according to a fourth embodiment of the present invention. Figure 9 is a flow chart, showing the sequence of alignment operation in the system of Figure 8. Figure 10 is a schematic view, illustrating the optical arrangement of an alignment system according to a fifth embodiment of the present invention. Figure 11 is a schematic view of an alignment system according to a sixth embodiment of the present invention. Figure 2 is a schematic view of a position detecting system (or an alignment system) according to a first embodiment of the present invention. The device of this embodiment can be suitably incorporated into an X-ray exposure apparatus of proximity exposure type. In the drawing, denoted at 1 is a mask (first object or substrate) having an integrated circuit pattern formed thereon; at 2 is a wafer (second object or substrate) having an X-ray sensitive layer (resist) formed thereon; at 1a and 2a are scribe lines formed on the mask 1 and the wafer 2, respectively; and at 3a and 4a are first and second physical optic elements each having an optical power and each being provided by an optical element effective to transform the wavefront of a beam inputted thereto. In this embodiment, each physical optic element is provided by a lens element having a grating pattern, similarly to a Fresnel zone plate, and is used as a mark for the position detection. Denoted at 5 is a wafer chuck for holding the wafer 2 by attraction, and denoted at 6 is an alignment head that accommodates therein various elements for the alignment (position detection) purpose. Denoted at 8 is a photodetector; at 9 is a light receiving surface of the photodetector 8; at 10 is a light source; at 11 is a light projecting lens system; at 12 is a half mirror; and at 13 is a cylindrical lens. The photodetector 8 comprises a CCD area sensor having its light receiving elements arrayed in the x-axis direction and a direction perpendicular thereto. Denoted at 100 is an X-Y-Z stage which is movable in the directions of x, y and z axes. The stage 100 is operable to move the wafer 2, attracted to the wafer chuck 5, in the x, y and z directions. Denoted at 101 is a stage driver for moving the X-Y-Z stage 101 in the x, y and z directions. Denoted at 102 is a central processing unit (CPU) which is operable to supply an instruction signal to the stage driver 101 to cause the same to move the X-Y-Z stage 100 for alignment of the mask 1 and the wafer 2 with respect to the x and y directions or for gap setting of the mask 1 and the wafer 2 to a predetermined value. In the present embodiment, for the mask-to-wafer alignment with respect to the x and y directions as well as for the gap setting (i.e., alignment with respect to the z direction), the X-Y-Z stage 100 is moved to displace the wafer 2. However, a moving mechanism may be provided to move a mask chuck (not shown) supporting the mask 1 and, by using such a mechanism, the mask 1 may be displaced in the x, y and z directions. The X-Y-Z stage 100 comprises a fine-motion wafer stage to be actuated by a piezoelectric device and a rough-motion wafer stage to be actuated by a stepping motor. The stage driver 100 comprises this piezoelectric device and this stepping motor. For displacement of the wafer 2 through a small distance, the CPU 102 supplies an instruction signal to the piezoelectric device, whereas for displacement of the wafer 2 through a relatively large distance, the CPU 102 supplies an instruction signal to the stepping motor. In Figure 2, the mask 1 and the wafer 2 are supported with a spacing (gap) within a predetermined range, with respect to the z-axis direction which is substantially perpendicular to the surface of the mask and wafer. In the present embodiment, light emanating from the light source 10 is transformed by the light projecting lens system 11 into a parallel light which, after impinging on the half mirror 12, is projected on the mark 3a of the mask 1 in an oblique direction, inclined with respect to a normal to the mask 1 surface. Here, the first mark 3a has a function of what can be called a "cylindrical lens", converging or diverging a received light in the x direction but not converging or diverging the same in the y direction, and serves to deflect the light 10a inputted thereto from the alignment head 6 with a predetermined angle such that the principal ray of the emanating light coincides with the negative z direction within the y-z plane. This optical action corresponds to the provision of a cylindrical lens with inclination relative to the optical axis. On the other hand, the second mark 4a has a function for converging or diverging a received light in the x direction with respect to which the marks 3a and 4a should be aligned. But, the second mark 4a has neither a light converging function nor a light diverging function with respect to the y direction. The second mark 4a serves to deflect, in the y-z plane, the light inputted thereto along the z direction, so as to direct the same to the cylindrical lens 13. The lens 13 has a light converging function with respect to the direction which is perpendicular to both of the x direction and the direction of its optical axis, but it has no function for converging or diverging the light with respect to the x direction. Now, description will be made of the manner of detecting the relative position of the first and second marks 3a and 4a with respect to the x direction. As described, the first mark 3a has a light converging or diverging function with respect to the x direction, and it serves to diffract the light 10a such that first order transmissive diffraction light emanates therefrom along a normal to the mask 1 (i.e. negative z direction) and impinges on the second mark 4a. Like the first mark 3a, the second mark 4a has a light converging or diverging function with respect to the x direction, and serves to diffract the light from the first mark 3a such that first order reflective diffraction light emanates toward the alignment head 6. The reflective diffraction light goes through the half mirror 12 and the cylindrical lens 13, having no lens function with respect to the x direction, and thereafter, it is collected on the light receiving surface 9 of the photodetector 8. In the present embodiment, as described, the mark 3a of the mask 1 and the mark 4a of the wafer 2 each is provided by a grating pattern which functions as a lens having a predetermined focal length in the x direction. More specifically, the light 10a inputted obliquely to the mask 1 surface from the alignment head 6, is deflected by the mark 3a of the mask 1 in the direction of a normal to the mask (negative z direction) toward the mark 4a of the wafer 2, so as to be collected at a predetermined position (in this embodiment, a distance -187.0 µm from the mask 1 surface in the z direction). In the present embodiment, the angle α of incidence of the light 10a upon the mask 1 is preferably within a range of 10 < α < 80 (deg). In this embodiment, the mark 4a of the wafer 2 comprises an off-axis type grating lens having a grating pattern which is asymmetrical with respect to the z axis, such that the direction of advancement of the principal ray of the diffraction light, emanating from the mark 4a, is deviated from the direction of an optical axis of the light inputted thereto (i.e. the direction of advancement of its principal ray). In this particular example, the mark 4a is designed to have a focal length -185.15 µm, and serves to direct the convergent light (or divergent light), produced by transmissive diffraction through the mark 3a of the mask 1, toward the cylindrical lens 13 of the alignment head 6. After being influenced by the lens functions of the marks 3a and 4a, the light 10a goes through the cylindrical lens 13 and impinges on the photodetector 8. The principle of detecting the relative position of a mask and a wafer will now be explained in greater detail. First, a reference position upon the light receiving surface 9 of the photodetector 8 is determined. This reference position corresponds to the position, upon the surface 9, of the center of gravity of the light 10a with respect to the x direction as assumed when a mask and a wafer are set with correct alignment (no relative positional deviation) in the x direction and with correct interval (gap). Such reference position can be determined by calculation based on various design data. Alternatively, it may be determined by trial printing. In any case, the thus determined reference position is memorized into a memory of the CPU 102. In an occasion where a wafer 2 introduced into the exposure apparatus has a positional deviation relative to the mask 1, the mask and wafer marks 3a and 4a are in such a relationship that the coaxial alignment of lenses in an ordinary optical system is destroyed. Therefore, in accordance with the amount of such positional deviation, the x-axis component of the emission angle of the light emanating from the mark 4a changes from the state as assumed when no positional deviation is present. Accordingly, the positional deviation of the wafer 1 in the x direction causes displacement of the position of the gravity center of the light 10a upon the light receiving surface 9 of the photodetector 8, in the x direction from the reference position. Here, provided that the positional deviation is in a certain small range, the displacement of the gravity center position of the light 10a upon the light receiving surface 9 in the x direction from the reference position, is proportional to the relative positional deviation of the mark 3a of the mask 1 and the mark 4a of the wafer 2 in the x direction. Assuming now that the mask 1 and the wafer 2 are relatively deviated by Δσ in the x direction, that the distance from the wafer 2 to the point of convergence (or the origin of divergence) of the light having been transmissively diffracted by the mark 3a of the mask 1 is denoted by a and that the distance from the wafer 2 to the light receiving surface 9 is denoted by b, then a deviation or displacement Δδ of the center of gravity of the spot of focused light upon the light receiving surface 9 with respect to the x direction, can be given by the following equation: Δδ = Δσ x (b/a+1) Namely, the deviation Δδ of the center of gravity of light is being magnified at an enlarging magnification which is equal to "b/a+1". This means that, by selecting a sufficiently large value for the enlarging magnification A = (b/a+1), it is possible to detect minute relative positional deviation of the mask 1 and the wafer 2, as an enlarged displacement of the gravity center of the light. If, as an example, a = 0.5 mm and b = 50 mm, the deviation Δδ of the center of gravity of the light is being magnified by 101 (one hundred and one) times larger than the relative positional deviation Δσ of the mask 1 and the wafer 2, in accordance with equation (a). Where the photodetector 8 has a resolution of 0.1 µm, a position resolution of an order of 0.001 µm is obtainable with regard to the positional deviation Δσ. By moving the X-Y-Z stage 100 on the basis of the thus determined positional deviation Δσ, the mask 1 and the wafer 2 can be aligned with each other at high precision. As described in the foregoing, the light 10a is transmissively diffracted by the mark 3a of the mask 1 and then is reflectively diffracted by the mark 4a of the wafer 2, by which the light 10a is received by the light receiving surface 9 of the photodetector 8 within the alignment head 6 in the form of a light with a relative deviation of the optical axes of the marks 3a and 4a of the mask 1 and the wafer 2 in the x direction being magnified by n (n > 1). Then, by using the photodetector 8, the position of the gravity center of the received light 10a with respect to the x direction is detected. Here, the gravity center position of the light 10a does not shift along the light receiving surface 9 in a direction perpendicular to the x direction, with the relative positional deviation of the mask 1 and the wafer 2 in the x direction. Also, if the wafer 2 displaces in the y direction, no change occurs in the light 10a impinging on the mark 4a of the wafer 2. Since in the y direction the mark 4a has a light deflecting function only, any shift of the position of incidence of the light 10a upon the mark 4a in the y direction does not cause a change in the orientation of the light emanating from the mark 4a. Accordingly, the gravity center position of the light 10a on the light receiving surface 9 is unchanged. It is to be noted here that the mark 4a of the wafer 2 should have a slightly large size in the y direction so as to prevent that, with a possible positional deviation of the wafer 2 in the y direction, the light from the mark 3a of the mask fails to impinge upon the mark 4a. Next, the principle of mask-to-wafer gap detection, namely, the principle of detecting the relative position of the mask and the wafer with respect to the z direction, will be explained. Considering the light 10a in terms of projection upon the y-z plane, the light 10a is deflected in the negative y direction by means of the mark 3a of the mask 1 and then it is deflected in the negative y direction by means of the mark 4a of the wafer 2, such that the principal ray thereof emanates in an oblique direction with a certain angle ψ (the angle being measured in the y-z plane) with respect to a normal (z direction) to the wafer 2 surface. After being influenced by the lens function of the cylindrical lens 13 of the alignment head 6, it is received by the photodetector 8. If the gap between the mask 1 and the wafer 2 changes from a correct value, the initial point of the light 10a emanating from the wafer 2 at the angle ψ changes which causes a change in the position of incidence of the light 10a on the cylindrical lens 13. Since the lens 13 has a lens function with respect to a direction (hereinafter "perpendicular direction") which is perpendicular to both of the x direction and the direction of the optical axis, the change in the position of incidence of the light 10a thereupon causes a change in the angle of emission of the light emanating therefrom. Since the light receiving surface 9 of the photodetector 8 is placed at a distance, from the cylindrical lens 13, larger than the focal length of the lens 13, such a change in the angle of emission of the light 10a from the lens 13 directly corresponds to displacement of the gravity center position of the light 10a upon the light receiving surface 9, from the reference position and with respect to the perpendicular direction. If the change in the angle of emission is within a small range, from the relationship described above, the amount of displacement of the gravity center position of the light 10a on the light receiving surface 9, from the reference position with respect to the perpendicular direction, is proportional to the quantity of gap error of the mask 1 and the wafer 2 in respect to a predetermined correct gap, namely, the position of the mask 1 or the wafer 2 in the z direction. When the focal length of the cylindrical lens 13 is denoted by f and the distance from the focal point position to the light receiving surface 9 is denoted by ℓ, the following relation is provided between the gap error Δz of the mask 1 and the wafer 2 and the displacement Δγ of the gravity center position of the light 10a on the light receiving surface 9 with respect to the perpendicular direction: Δγ = (ℓsinψ)/f·Δz Accordingly, by detecting the displacement of the gravity center position of the light 10a in the perpendicular direction through the photodetector 8, it is possible to detect the gap error Δz in accordance with equation (b). By selecting a sufficiently large value for the magnification B = (ℓsinψ)/f, it is possible to detect a minute gap error has an enlarge displacement of the center of gravity of the light 10a. In the present embodiment, as described hereinbefore, the light 10a is responsive to both the relative positional deviation of the mask 1 and the wafer 2 in the x direction and the relative positional deviation of the mask 1 and the wafer 2 in the z direction (i.e., the gap error), and produces displacement on the light receiving surface 9 of the photodetector 8 in the x direction and the perpendicular direction, respectively. Thus, by detecting any deviation of the light 10a from the reference position with respect to both of the x direction and the perpendicular direction, with the use of the photodetector 8, it is possible to detect the relative positional deviation of the mask 1 and the wafer 2 both with respect to the x direction and with respect to the z direction (i.e., the gap error), with the use of a common light and a common detecting system. Therefore, the structure of the position detecting system can be made simple and compact. When the coordinate system of Figure 2 is rotated about the z axis by 90 degrees, the position detecting system of the illustrated embodiment can be used for detection of any positional deviation with respect to the y direction. Thus, the exposure apparatus of the present embodiment is equipped with such a y-direction position detecting (and gap detecting) system, in addition to the detecting system of Figure 2, so as to allow three-dimensional position detection for the mask 1 and the wafer 2. The focal lengths of the marks 3a and 4a of the mask 1 and the wafer 2 are set, while taking into account the gap between the mask 1 and the wafer 2 to be assumed at the time of exposure (pattern transfer) as well as the magnification necessary for the detection of positional deviation with respect to the x and y directions. In the exposure apparatus of the present embodiment, the relative positional deviation of the mask 1 and the wafer 2 with respect to the x and y directions is transformed, with an enlarging magnification of x100, into a displacement of the gravity center position of the light 10a on the light receiving surface 9 of the photodetector 8, and such displacement is detected by the photodetector 8. Based on this, detection of three-dimensional relative positional deviation of the mask 1 and the wafer 2 is performed in an X-ray exposure apparatus of proximity type wherein the gap between the mask 1 and the wafer 2 to be assumed at the time of exposure is set to be equal to 30 µm. It is now assumed that the light source 10 comprises a semiconductor laser and the light 10a therefrom has a wavelength of 0.83 µm. Here, the light 10a as passed through the light projecting lens system 11 of the alignment head 6 is transformed into a parallel light and then goes by way of the half mirror 12, the mask 1, the wafer 2 and the mask 1, again, wherein the light goes through a grating system comprising the marks 3a and 4a. The power arrangement of such a grating system is exemplified in the schematic views of Figures 3 and 4. While in these examples the two marks 3a and 4a are illustrated as transmission type marks 3b and 4b; 3c and 4c, if one of the two marks is of a reflection type such as in the Figure 2 example, the function is the same in principle. More specifically, Figure 3 illustrates a case where the mark 3b of the mask 1 has a negative refracting power and the mark 4b of the wafer 2 has a positive refracting power. Figure 4 illustrates a case where the mark 3c of the mask 1 has a positive refracting power and the mark 4c of the wafer has a negative refracting power. Here, whether the refracting power is negative or positive is determined, depending on whether negative order diffraction light or positive order diffraction light is to be used. Optical geometry of a grating pattern for each of a mask grating mark 3a and a wafer grating mark 4a, usable in this embodiment, will now be explained. First, a mark 3a for the mask 1 can be designed so that, when a parallel light of a predetermined beam diameter is incidence thereupon at a predetermined angle, the light is focused at a predetermined position. Usually, a pattern of a grating mark 3a may be that of an interference fringe which can be formed on the mask 1 surface, on which the mark 3a is to be provided, in an occasion where mutually coherent light sources are disposed at a light source position (object point) and the position of an image point. Assumingly, a coordinate system is defined on the mask 1 surface, such as shown in Figure 1. The origin is at the middle of the width of the scribe line 1a, the x axis is in the direction of the scribe line, the y axis is in the widthwise direction and the z axis is in the direction of a normal to the wafer 2 surface. Equations regarding a group of curved lines of such a grating pattern by which a parallel light, having been obliquely inputted thereto at an angle α with respect to the normal to the wafer 2 surface and with its projection to the x-z plane being perpendicular to the lengthwise direction of the scribe line, is imaged after being transmissibly diffracted through each point (x, y, o) on the mark 3a, at the position of a convergent point (x 1 , y, z 1 ) wherein x 1 and z 1 are constants, can be expressed in the following manner, with the contour position of each grating line being denoted by x and y: Ysinα + P 1 (x)-P 2 = mλ/2 P 1 (x) =√ (x-x 1 ) 2 + z 1 2 P 2 = √ x 1 2 + z 1 2 wherein λ is the wavelength of the light 10a and m is an integer. Assuming now that a chief ray is such a ray being incident on the mask 1 with an angle α and passing through the origin on the mask and then impinging upon a convergent point (x 1 , y, z 1 ), then the right side of equation (2-a) shows that, depending on the value of m, the optical path length is "λ x m/2" times longer (shorter) than that for the chief ray; and the left side denotes the difference in length, with respect to the optical path of the chief ray, of the optical path of such a ray that passes a point (x, y, o) on the mask and then impinges on the point (x 1 , y, z 1 ). On the other hand, a mark 4a to be provided on a wafer 2 can be designed so as to collect, at a predetermined position corresponding to the position of the light receiving surface 9, a cylindrical wave emanating from a predetermined linear light source. Where the gap between a mask 1 and a wafer 2 to be assumed at the time of exposure is denoted by g, then the position of such a linear light source can be expressed by (x 1 , y 1 , z 1 -g). Assuming now that the mask 1 and the wafer 2 are to be aligned with respect to the x-axis direction and that, upon completion of alignment, the light 10a is focused at a point (x 2 , y-y 2 , z 2 ) on the light receiving surface 9, wherein x 1 , y 1 and z 1 are constants, equations regarding a group of curved lines of a grating pattern for the mark 4a of the wafer 2 can be expressed, in the coordinate system defined hereinbefore, as follows: (x-x 2 ) 2 + y 2 2 + z 2 2 - (x-x 1 ) 2 + (z 1 -g) 2 = x 2 2 + y 2 2 + z 2 2 - x 1 2 + z 1 2 + mλ/2 Equation (2-b) is such an equation that satisfies a condition by which, assuming that the wafer 2 surface is at z = -g and that the chief ray of the light 10a is such a ray that passes the origin on the mask 1 and a point (0, 0, -g) on the wafer 2 and additionally a point (x 2 , y 2 , z 2 ) on the light receiving surface 9, the difference in length between the path of the chief ray and the path of a ray passing each point of the coordinate (x, y, -g) on the wafer 2 becomes equal to a multiple, by an integer, of a half wavelength. Equations (2-a) and (2-b) each is one for designing a grating pattern having a function equivalent to that of a cylindrical lens having a lens function only with respect to the x direction, with respect to which the positional deviation should be detected. Generally, an alignment mark for a mask can be formed as an amplitude type diffraction grating of "0 and 1" in which two regions, a region (transparent portion) that can transmit light and a region (light blocking portion) which does not transmit light, are formed alternately. On the other hand, an alignment mark for a wafer can be formed as a phase type diffraction grating having a rectangular section. In the mark 3a of the mask 1, the linewidth ratio of the light transmitting portion and the light blocking portion is 1:1, and in the mark 4a of the wafer 2, the line and space ratio of the diffraction grating is 1:1. As an example, a mark 3a on a mask can be formed by transferring, onto an organic thin film of polyimide, a grating pattern of a reticle prepared beforehand by use of electron beam exposure technique. On the other hand, a mark 4a of a wafer can be formed by preparing on a particular mask a grating pattern to be printed on a wafer and then by transferring the pattern to the wafer by a lithographic process. Referring back to Figure 2, description will be made of a case where, in this embodiment, a particular positional deviation is given between a mask and a wafer. It is now assumed that the mask-to-wafer gap has been set at a correct value. Light emanating from a semiconductor laser (light source) 10 of a wavelength 830 nm, passes through the light projecting lens system 11 and is transformed into a parallel light of a half width of 600 µm. The parallel light is projected from the alignment head 6 upon a mask 1 surface at an angle of 17.5 degrees with respect to a normal (z direction) to the mask 1 surface. On a scribe line 1a upon the mask 1, a mark 3a having a width 60 µm (in the y direction) and a length 180 µm (in the x direction) and having a lens function, is formed. Also, on a scribe line 2a upon a wafer 2, a mark 4a having the same size as of the mark 3a and having a lens function, is formed. Fine motion of the wafer stage as actuated by a piezoelectric device as well as rough motion of the wafer stage as actuated by a stepping motor, can be measured by using an unshown measuring machine (resolution 0.001 µm), in a temperature controlled chamber at a controlled temperature of 23 ± 0.5 °C. Two-dimensional CCD area sensor having its picture elements arrayed in the x direction and a direction perpendicular thereto, is used as the photodetector 8, in the alignment head 6, for detection of the gravity center position of the light 10a. Output signals from the area sensor are processed so as to be standardized with respect to the total light intensity on the whole light receiving surface 9, by the CPU 102. This assures that, even if the output power of the light source 10 changes slightly, the gravity center position of the light 10a with respect to the x direction and the perpendicular direction is detected correctly on the basis of the signal output from the area sensor. The resolution of such an area sensor for the position of the center of gravity was 0.2 µm, when actually measured with the use of a semiconductor laser of 50 mW. In a design example of a mark 3a of a mask 1 and a mark 4a of a wafer 2, in the first embodiment, the marks are so set that the light 10a is displaceable upon the light receiving surface 9 while magnifying by x100 a positional deviation between the mask and the wafer. As a consequence, the positional deviation of a magnitude 0.01 µm between a mask and a wafer causes effective displacement of the center of gravity of the light upon the light receiving surface 9 of an amount of 1 µm, which displacement can be measured at a resolution of 0.2 µm. Here, to the relative positional deviation of the mask and the wafer, the detected gravity center position has a linear relationship, taking as a proportional constant the magnification of the grating system which is determined by the power of each of the marks 3a and 4a and the disposition of these marks and the photodetector 8. If, however, the positional deviation goes beyond a certain value (20 µm in this embodiment), the linearity is destroyed and a non-linear relationship appears. This is because of the fact that the wavefront aberration of the light 10a grows with an increase in the amount of relative positional deviation of the marks 3a and 4a of the mask and the wafer and, as a result, asymmetry appears in the configuration of the spot of light 10a formed on the light receiving surface 9 of the photodetector 8. The wavefront aberration is larger with a larger numerical aperture (Na) of each mark 3a or 4a. Therefore, preferably a smaller Na is used when a mark having an optical power is formed in a limited area. An alignment system structured in accordance with the present embodiment assures a resolution of 0.002 µm for the positional deviation as well as a deviation measuring range of ±20 µm (linear relationship region). Next, description will be made of a case where the gap between the mask 1 and the wafer 2 has changed from a predetermined. With the change in the gap from the predetermined, the gravity center position of the light 10a on the light receiving surface 9 shifts in the aforesaid perpendicular direction, and such a change as measured through the photodetector 8 can be expressed by equation (b). Accordingly, on the basis of the gravity center position of the light 10a upon the light receiving surface 9 with respect to the perpendicular direction, the magnitude of the gap can be measured. In this embodiment, a measurement range of 10 - 90 µm, a resolution of 0.03 µm, deviation from linearity of 4.8 %, and a linear relationship region of 50 - 80 µm, are obtained. As regards the sequence for the gap setting of a mask and a wafer as well as the alignment with respect to the x direction, one of the following methods may be adopted: The first method is that: Equations (a) and (b) that represent the relationship between (i) the relative positional deviation Δσ of a mask and a wafer and a change Δz in the gap between them and (ii) signals Δδ and Δγ corresponding to the displacement of the gravity center position of the light 10a on the light receiving surface 9 of the photodetector 8, is predetected and memorized into a memory of the CPU 102. From actually obtained values of the signals Δδ and Δγ representing the displacement of the gravity center position, the change Δz in the gap and the relative positional deviation Δσ between the mask and the wafer, are determined. Then, the mask 1 or the wafer 2 is displaced by an amount corresponding to the thus determined gap error Δz and the positional deviation Δσ. The second method is that: From the signals Δδ and Δγ of the photodetector 8, corresponding to the displacement of the gravity center position, those directions that cancel the gap error Δz and the positional deviation Δσ are determined and, in those directions, the mask or the wafer is moved. Then, until the gap error Δz and the positional deviation Δσ are reduced to satisfy the tolerance, the detection and movement are repeated. In any case, preferably the gap setting is made first. Namely, preferably the detection of positional deviation and the adjustment of the mask or wafer position in the x direction is made after completion of the detection of the gap error and the adjustment of the mask or wafer position in the z direction. The sequence of alignment operation to be performed with the use of the CPU 102, is illustrated in Figures 5A and 5B. While in the present embodiment, the cylindrical lens 13 is used in the alignment head 6 for measurement of the gap between a mask and a wafer, the light 10a from the wafer may be directly received by the photodetector 8 without intervention of the lens 13. In that occasion, by detecting the gravity center position of the light 10a upon the light receiving surface 9 with respect to the y-axis direction, any change in the gap can be detected. Figure 6 is a schematic view of an alignment system according to a second embodiment of the present invention, which can be incorporated into an X-ray exposure apparatus, like the Figure 2 embodiment. Those numerals like the Figure 2 embodiment are assigned to similar or corresponding elements. An important feature of the present embodiment resides in that, adjacent a mark 3a on a mask 1, an auxiliary mark 3b comprising a linear Fresnel zone plate is provided, wherein the mark 3b has a power in a direction (y direction) perpendicular to the direction (x direction) with respect to which any positional deviation is to be detected. The mark 3b can serve like the cylindrical lens 13 of the first embodiment. Details will be explained below. Light 10a emanates from a semiconductor laser in an alignment head 6 and, after passing through a light projecting lens system 11, it impinges on the mark 3a on the mask 1 obliquely, as in the first embodiment. The light 10a is transmissibly diffracted by the mark 3a and a first order diffraction light obtained thereby is simultaneously influenced by the convex lens function of the mark 3a, so that it is transformed into a convergent light and, while being converged, it impinges on a mark 4a provided on a wafer 2. The light 10a is reflectively diffracted by the mark 4a and, simultaneously therewith, it is influenced by a concave lens function of the mark 4a. After this, the light 10a is received by the auxiliary mark (linear Fresnel zone plate) 30b on the mask by which the light is influenced by a lens function only with respect to the y direction and, finally, it is received by a light receiving surface 9 of a photodetector 8 in the alignment head 6. In the present embodiment, like the first embodiment, the marks 3a and 4a each is provided by a grating pattern having the same function as of a cylindrical lens and having a power only with respect to the direction (x direction) in respect to which any positional deviation is to be detected. Also, each mark has a function as of a deflecting element for deflecting the chief ray of the light 10a in the y→z plane. The light 10a is neither influenced by any lens function nor influenced by any deflecting function, through the auxiliary mark 30b with respect to the direction in which the positional deviation is to be detected. Thus, the change in the gravity center position of the light 10a upon the light receiving surface 9 of the photodetector 8 in the x direction, corresponds to the relative positional deviation of the mask 1 and the wafer 2 in the x direction, as in the first embodiment. As regards the gap detection, on the other hand, the light 10a is caused by the mark 4a of the wafer 2 to emanate therefrom obliquely at a certain angle ϕ in the y-z plane, with respect to a normal (z direction) to the wafer 2 surface or the mask 1 surface, and it impinges on the auxiliary mark 30b at a position which is changeable with the gap between the mask 1 and the wafer 2. Then, the light 10a emanates from the mask 1 at an angle which is changeable with the position of incidence thereof on the mark 30b and thus it emanates with a different projection component to the y-z plane, and finally it is received by the light receiving surface 9 of the photodetector 8 in the alignment head 6. By detecting the gravity center position of the light 10a on the light receiving surface 9 with respect to a direction perpendicular to the positional deviation detecting direction (x direction), by use of the photodetector 8, it is possible to measure the gap between the mask 1 and the wafer 2 at an enlarging magnification as determined on the basis of equation (b). Figure 7 illustrates a position detecting system according to a third embodiment of the present invention. Since major components of this embodiment are essentially the same as those of the first embodiment, only the path of the light 10a as projected to the y-z plane, which is a characteristic feature of the present embodiment, is illustrated in Figure 7. In the present embodiment, a mark 3c comprising a grating pattern is provided on a mask 1, and the mark 3c has a lens function with respect to both of the position detecting direction (x direction) and a direction (y direction) perpendicular thereto. Thus, the mark 3c can serve as an ordinary lens of what can be called a "rotationally symmetrical type". Since the principle of detecting three-dimensional relative positional deviation of the mask 1 and the wafer 2 with respect to the x, y and z directions, is essentially the same as that in the preceding embodiment, explanation thereof will be omitted here. Light 10a from an alignment head 6 is first diffracted by the mark 3c of the mask 1 and, simultaneously therewith, it is influenced by a convex lens function (concave lens function) of the mark 3c. Thus, in the form of a convergent light (divergent light), it impinges on a mark 4a of the wafer 2. The light 10a is diffracted again by the mark 4a and, additionally, it is influenced by the concave lens function (convex lens function) of the mark 4a, only with respect to the direction (x direction) in which the positional deviation is to be detected. Thereafter, the light is again diffracted by the mark 3c of the mask 1 and, when it is transmitted therethrough, it is influenced by the lens function in respect to the positional deviation detecting direction (x direction) and the direction (y direction) perpendicular thereto. Finally, the light is received by the photodetector 8 in the alignment head 6. In this manner, with respect to the x direction which is the direction in which the positional deviation is to be detected, the light is influenced by the lens action totally at least three times (at least once by each of the mask 1 and the wafer 2). On the other hand, with respect to the y direction perpendicular to the x direction, the light is influenced by the lens action by the mask 1, through "2 x n" times (n = 1, 2, ...). Such a light is used for the detection. Also in the present embodiment, the signal processing for detection of the positional deviation is performed in the same manner as in the first embodiment. Where the mark 3c of the mask 1 is equipped with a power also in the direction (y direction) perpendicular to the position detecting direction, as in the present embodiment, it is possible that the single mark 3c functions as the mark 3a and also as the auxiliary mark 3b of the second embodiment. Figure 8 shows a position detecting system according to a fourth embodiment of the present invention. Except for the structure of a used photodetector, the arrangement of various components placed in the alignment head as well as the structure of the x-y-z stage are the same as those of the first embodiment, and they are not illustrated. As for the physical optic element for measurement of the positional deviation and the gap, a mask 1 is provided with two marks 41M 1 and 41M 2 which are arrayed in the x direction while, on the other hand, a wafer 2 is provided with two marks 41W 1 and 41W 2 which are arrayed in the x direction. The mark 41W 2 has no lens function but serves to reflectively diffract a received light. A single bundle of parallel light impinges on the marks 41M 1 and 41M 2 and, as diffracted by these marks, the light is separated into a positional deviation detecting light 44 and a gap detecting light 45. In this embodiment, as seen in Figure 8, a positional deviation and gap change detecting sensor means comprises a one-dimensional (linear) CCD sensor 38-1 and a two-dimensional (area) CCD sensor 38-2 which are provided on a common planar substrate 80 and are arrayed in the z direction. The linear CCD sensor 38-1 has its sensing elements arrayed in the x direction, and the area CCD sensor 38-2 has its sensing elements arrayed in the x and y or X and Z directions. In this embodiment, the marks 41M 1 and 41W 1 are of the same structure as of the marks 3a and 4a of the first embodiment, respectively, such that the light 44 impinges on the sensor 38-1 with the relative positional deviation of the mask 1 and the wafer 2 in the x direction being transformed into a magnified displacement of the position of incidence of the light 44 on the sensor 38-1. Since the mark 41W 2 has no lens function, the light 45 produced by the mark 41M 2 is simply reflected by the mark 41W 2 at a constant angle irrespective of the position of incidence of the light upon the mark 41W 2 . Therefore, any relative positional deviation of the mask 1 and the wafer 2 in the x direction or in the y direction does not result in a change in the position of incidence of the light 45 upon the sensor 38-2. Here, if the distance from the position of the light 44 (gravity center position) incident on the sensor 38-1 to the position of the light 45 (gravity center position) incident on the sensor 38-2 in the x direction, when the mask 1 and the wafer 2 have no relative positional deviation, is denoted by h, then the spacing in the x direction between the lights 44 and 45 incident on the substrate 80 as defined when the mask 1 and the wafer 2 are relatively deviated by Δσ in the x direction, can be expressed by using equation (a) as follows: Δδs = A·Δσ + h In the present embodiment, the constant A and the distance h are detected beforehand and, by using output signals of the sensors 38-1 and 38-2, the spacing in the x direction between the gravity center positions of the lights 44 and 45 is determined. By substituting the thus obtained Δδs into equation (c), the positional deviation Δσ can be detected. Namely, in this embodiment, the light 45 serves as a reference light for the detection of the positional deviation with respect to the x direction. If the wafer 2 is inclined relatively to the mask 1, the position of incidence of the light 44 upon the sensor 38-1 in the x direction and the position of incidence of the light 45 upon the sensor 38-2 in the x direction, shift through the same distance. In the position detecting system of the present embodiment, the remainder obtainable by subtracting the amount of displacement detected by the sensor 38-2 from the amount of displacement detected by the sensor 38-1, is taken as an actual displacement of the position of incidence to the substrate 80 and, on the basis of this displacement, the relative positional deviation of the mask and the wafer in the x direction is detected. Therefore, it is possible to detect the relative positional deviation without being influenced by the inclination of the wafer 2. The light 45 is used also to detect the gap between the mask and the wafer. The mark 41M 2 comprises a grating pattern having a power both in the x and y directions. On the other hand, the mark 41W 2 comprises a linear grating pattern of regular pitch adapted to reflect the light 45 at a constant angle irrespective of the position of incidence of the light thereupon, as described. By detecting a change in the gravity center position of the light 45 on the sensor 38-2 in a direction (z direction in this example) perpendicular to the x direction, it is possible to detect the gap between the mask 1 and the wafer 2. The distance h in the x direction between the gravity center positions of the light 44 and 45 to be assumed when the mask 1 and the wafer 2 have no relative positional deviation, can be set at any desired value by designing the four marks 41M 1 , 41M 2 , 41W 1 and 41W 2 accordingly. However, the value of distance h may be determined by trial printing after manufacture of these marks. Also, the gravity center position of the light 45 on the sensor 38-2 to be assumed when a correct gap is maintained between the mask and the wafer, namely, the reference position, can be determined by trail printing. Basic algorithm for the alignment and gap setting of the mask 1 and the wafer 2, according to the present embodiment, is such as follows: (1) The y-axis position Ys of the gravity center of the light 45 upon the sensor 38-2 in the z direction, is detected. (2) From Ys, the gap Z (the position of the wafer 2 relative to the mask 1 with respect to the z direction), is calculated. (3) Comparing Z with a set value Z 0 , whether or not the gap error is not greater than a tolerance ε 0 . (4) If not greater than the tolerance, the wafer 2 is displaced by a driving stage through "Z - Z 0 ". (5) Steps (1) - (4) are repeated until the relation |Z - Z 0 | ≦ ε 0 is satisfied. (6) The intensity distribution of the light 44 upon the sensor 38-1 is measured, and then the x-axis position Xs of the gravity center thereof is determined. (7) Also, from the intensity distribution of the light 45 on the sensor 38-2, the x-axis position X R of the gravity center thereof is determined. (8) The difference Δδ S between X S and X R is calculated and, by using equation (c), the relative positional deviation Δσ 1 of the mask 1 and the wafer 2 in the x direction (i.e., the position of the wafer 2 relative to the mask 1 in the x direction), is calculated. (9) Whether or not Δσ 1 is within a preset tolerable range (ε 1 - ε 2 ) is discriminated. (10) If Δσ 1 is not within the range (ε 1 - ε 2 ), the wafer 2 is displaced by the driving stage to correct the positional deviation. (11) The steps (6) - (10) are repeated until the relation ε 1 ≤ Δσ 1 ≤ ε 2 is satisfied. The above-described sequential operation is illustrated in the flow chart of Figure 9. Figure 10 is a schematic view showing a position detecting system according to a fifth embodiment of the present invention. In this embodiment, the position detecting system is incorporated into a semiconductor device manufacturing projection exposure apparatus that includes a reduction imaging system having three reflection mirrors 25a, 26a and 27. In the drawing, an integrated circuit pattern formed on a reticle L is imaged on a wafer W surface by means of the reflection mirrors 25a, 26a and 27 in a reduced scale of 1:4. Here, by using light for exposure as supplied from an unshown illumination system, the wafer W is exposed to the reticle, by which the pattern of the reticle is printed on the wafer W. As regards the alignment system, light emanating from a light source 10 is transformed by a light projecting lens system 11 into a parallel light which illuminates a reticle alignment pattern 3L formed on the reticle L. The light is diffracted by the pattern 3L and the diffracted light goes by way of the reflection mirrors 25a, 26a and 27 and a half mirror 19, and it impinges on a wafer alignment pattern 4W. Then, the light is reflectively diffracted by the wafer alignment pattern 4W and, after being reflected by the half mirror 19, it impinges on a light receiving surface 9 of a photodetector 8. The reticle alignment pattern 3L and the wafer alignment pattern 4W comprise physical optic elements having the same functions as of the marks 3a and 4a of the first embodiment, respectively. The reticle alignment pattern 3L has a convex lens function only with respect to the x direction, and serves to converge, at a position Q 0 , the received light into a linear light extending in parallel to the y direction. Then, by means of the reflection mirrors 25a, 26a and 27, the light is projected to the wafer alignment pattern 4W so as to be converged linearly at a position Q. The wafer alignment pattern 4W has a convex mirror function in respect to the x direction, and serves to reflect the light having been impinged thereupon so as to be converged linearly at the position Q. The light reflected by the pattern 4W goes by way of the half mirror 19 and a cylindrical lens 13, having a power in the y direction, and finally it is collected at the light receiving surface 9 of the photodetector 8. Like the preceding embodiment, the positional deviation Δσ of the reticle L and the wafer W with respect to the x direction is determined from the displacement Δδ of the gravity center position of the light incident on the light receiving surface Q with respect to the z direction while, on the other hand, the gap error Δz between the reticle L and the wafer W is determined from the displacement Δγ of the gravity center position of the same light with respect to the y direction. Figure 11 is a schematic view of a position detecting system according to a sixth embodiment of the present invention. This embodiment is incorporated into a reduction projection type electron beam irradiating apparatus for manufacture of semiconductor devices. In the drawing, an electron beam emanating from an electron gun 32 goes through a blanking plate 33 and, by means of a first condenser lens 34, a second condenser lens 35 and a third condenser lens 36, it is transformed into a parallel beam which irradiates a reticle L. The reticle L is formed with an integrated circuit pattern, prepared by forming openings in a metal film. The electron beam passes through this pattern and forms on the wafer W surface an image of the pattern of the reticle L in a reduced scale of 10:1, under the influence of a first projection lens 37, an aperture alignment coil 38 and a second projection lens 39. In this embodiment, the alignment pattern 3L of the reticle has a similar structure as of the pattern 3L of the Figure 10 embodiment, and the alignment pattern 4W of the wafer W has a similar structure as of the pattern 4W of the Figure 10 embodiment. The alignment optical system is arranged as follows: Light emanating from an alignment light source 10 is transformed by a light projecting lens system 11 into a parallel light which is projected by a mirror 28 to irradiate the alignment pattern 3L of the reticle L. By this alignment pattern 3L, the parallel light is diffracted and is influenced by the light collecting action thereof. After being reflected by a mirror 29, the light is focused at a point Q 0 . Thereafter, the light path is deflected by a mirror 30 and, then, the light is transformed by a lens 18 again into a convergent light. The light path is deflected by a half mirror 19 and a mirror 31, and the light is projected to the wafer W so as to be converged at a point Q. The alignment pattern 4W provided on the wafer W reflectively diffracts the light, having been impinged thereupon so as to be converged at the point Q. The light from the pattern 4W is reflected by the mirror 31 and goes through the half mirror 19 and, after passing through a cylindrical lens 13 having a power in the y direction, it is collected at the light receiving surface 9 of the photodetector 8. The reticle alignment pattern 3L is set so that, by means of the lens 18, it is projected onto the wafer W in a reduced scale of 10:1, namely, at the same magnification of the electron beam exposure system (37, 38, 39). Therefore, any lateral deviation of the integrated circuit pattern of the reticle L and that of the reticle alignment pattern 3L correspond to each other, on the surface of the wafer W, in a one-to-one relationship. As in the first embodiment described hereinbefore, in this embodiment, the relative positional deviation Δσ of the reticle L and the wafer W in the x direction is determined from the displacement Δδ of the gravity center position of the light incident on the light receiving surface 9 of the photodetector 8 with respect to the z direction, while the gap error Δz of the reticle L and the wafer W is determined from the displacement Δγ of the gravity center position of the same in the y direction. It is to be noted here that the present invention is not limited to an alignment system in a semiconductor device manufacturing exposure apparatus, but it is widely applicable, for example, to the alignment operation for the hologram device setting in hologram exposure and reproduction, the alignment operation in a multicolor printing machine, the alignment operation for adjustment of optical parts, optical measuring system or the like, interval measurement for them, and the like. As regards the light to be used for the detection, such a light as having been diffracted by a grating pattern mark of a mask at an order other than the zero-th order, and thus having been influenced by a lens function and then having been reflected by a wafer at the zero-th order (i.e. specular reflection) and finally having been diffracted by the mark of the mask at an order other than the zero-th order, may be used. Alternatively, such a light having been transmitted through a mask at a zero-th order, having been reflectively diffracted by a grating pattern mark of a wafer at an order other than the zero-th order and thus having been influenced by a lens function, and finally having been diffracted by the mask at the zero-th order or a different order.

Claims: A method of detecting the position of a first object (2) having a surface relative to a second object (1) opposed said first object (2) with respect to a first direction substantially perpendicular to the surface of said first object (2) and a second direction perpendicular to said first direction; wherein a first optical element (4a, 4b, 4c, 41W i ) is provided on said first object (2) and has optical power with respect to said second direction, and a second optical element (3a, 3b, 3c, 41M 1 ) is provided on said second object (1) and has optical power at least with respect to said second direction; the method including the steps of: directing a radiation beam onto said second optical element (3a, 3b, 3c, 41M 1 ) such that the radiation beam is deflected therefrom onto said first optical element (4a; 4b, 4c; 41W 1 ) whereby the radiation beam is deflected and projected onto a detection plane, the position of incidence of the deflected radiation beam on said detection plane being shiftable in a fourth direction in accordance with the position of said first object (2) relative to said second object (1) in said first direction and shiftable in a fifth direction, different from said fourth direction, in accordance with the position of said first object (2) relative to said second object (1) in said second direction; detecting the radiation beam deflected by said first optical element (4a; 4b 4c; 41W 1 ) in said detection plane; and detecting the position of said first object (2) relative to said second object (1) with respect to said first and second directions on the basis of the position of incidence of the deflected radiation beam at said detection plane with respect to said fourth and fifth directions respectively, characterised in that the first optical element (4a, 4b, 4c, 41W 1 ) has substantially no optical power with respect to a third direction perpendicular to said first and second directions. A method as claimed in claim 1 wherein said first and second optical elements (4a 3a; 41W 1 41M 1 ) comprise Fresnel zone plates. A method as claimed in claim 1 wherein said first and second optical elements (4a, 3a; 41W 1 41M 1 ) comprise grating patterns. A method as claimed in any preceding claim wherein each of said first and second optical elements (4a 3a; 41W 1 41M 1 ) is arranged to deflect the radiation beam in a plane containing said first and fifth directions. A method as claimed in any preceding claim wherein said first optical element (4a; 41W 1 ) is arranged to reflectively diffract the radiation beam. A method as claimed in any preceding claim wherein said second optical element (3a; 41M 1 ) is arranged to transmissively diffract the radiation beam. A method as claimed in any preceding claim wherein said second and fifth directions are substantially common and said fifth direction is perpendicular to said fourth direction. A method as claimed in any preceding claim including the step of focusing the radiation beam deflected by said first optical element (4a; 4b 4c) with respect to said third direction to project the deflected radiation beam onto said detection plane. A method as claimed in claim 8 wherein the radiation beam deflected by said first optical element (4a) is passed through a cylindrical lens (13) having its cylindrical axis lying in said fifth direction to focus the deflected radiation beam with respect to said third direction and project the deflected radiation beam onto said detection plane. A method as claimed in claim 8 using a third optical element (30b) provided on said second object (1) and having optical power with respect to said third direction and substantially no optical power with respect to said second direction wherein light deflected by said first optical element (4a) is directed through said third optical element (30b), focused with respect to said third direction, and projected onto said detection plane. A method as claimed in any one of claims 1 to 7 using a third optical element (41M 2 ) provided on said second object (1) and having optical power with respect to said second and third directions, and a fourth optical element (41W 2 ) provided on said first object (2) and having substantially no optical power with respect to said second and third directions, wherein the step of directing a radiation beam includes the step of directing a portion of the radiation beam onto said third optical element (41M 2 ) such that the portion of the radiation beam is deflected therefrom onto said fourth optical element (41W 2 ) whereby the portion of the radiation beam is deflected and projected onto said detection plane, the position of incidence of the portion of the radiation beam on said detection plane being shiftable in said fourth direction in accordance with the position of said first object (2) relative to said second object (1) in said first direction; the step of detecting the radiation including the step of detecting the portion of the radiation beam deflected by said fourth optical element (41W 2 ) in said detection plane; and the step of detecting the position of said first object (2) relative to said second object (1) is achieved by determining the position of incidence of the deflected portion of the radiation beam at the detection plane with respect to said fourth direction and the position of incidence of the deflected radiation beam at the detection plane with respect to said fifth direction. A method as claimed in claim 11 including the step of detecting relative inclination between said first and second objects (2,1) on the basis of the positions of incidence of the deflected radiation beam and the deflected portion of the radiation beam at the detection plane with respect to said fifth direction. A method as claimed in any one of claims 1 to 8 wherein said second optical element (3c) has optical power with respect to said second and third directions; the step of directing a radiation beam comprising directing the radiation beam onto said first optical element (3c) such that the radiation beam is deflected therethrough onto said second optical element (4a) and reflected and deflected thereby through said first optical element (3c) to project onto said detection plane. A method of aligning a first object (2) with a second object (1) comprising the steps of: detecting the positional relationship between said first and second objects (2,1) using the method of any preceding claim; and adjusting the relative positional relationship between said first and second objects (2,1) to align said first and second objects (2,1) with respect to said first and second direction. A method of manufacturing a device comprising the steps of; aligning a first object (2) comprising a substrate with a second object (1) comprising a mask or reticle using the method of claim 14; exposing said substrate to a circuit pattern of the mask or reticle by exposing the mask or reticle to radiation; and fabricating a semiconductor device from the exposed substrate. A position detecting system for detecting the position of a first object (2) having a surface relative to a second object (1) opposed said first object (2) with respect to a first direction substantially perpendicular to the surface of said first object (2) and a second direction perpendicular to said first direction, wherein a first optical element (4a; 4b, 4c; 41W 1 ) is provided on said first object (2) and has optical power with respect to said second direction and a second optical element (3a; 3b 3c; 41M 1 ) is provided on said second object (1) and has optical power at least with respect to said second direction; directing means (10,11,12) arranged to direct a radiation beam onto said second optical element (3a, 3b, 3c; 41M 1 ) to cause the radiation beam to be deflected therefrom onto said first optical element (4a; 4b 4c; 41W 1 ) from where it is deflected and projected onto a detection plane, the position of incidence of the deflected radiation beam on said detection plane being shiftable in a fourth direction in accordance with the position of said first object (2) relative to said second object (1) in said first direction and shiftable in a fifth direction, different from said fourth direction, in accordance with the position of said first object (2) relative to said second object (1) in said second direction; sensor means (8; 80) positioned to detect the radiation beam deflected by said first optical element (4a; 4b 4c; 41W 1 ) in said detection plane; and detecting means (102) adapted to detect the position of said first object (2) relative to said second object (1) with respect to said first and second directions on the basis of the position of incidence of the deflected radiation beam on said sensor means (8; 80) with respect to said fourth and fifth directions respectively; the system being characterised in that the first optical element (4a; 4b; 4c; 41W 1 ) has substantially no optical power with respect to a third direction perpendicular to said first and second directions. A position detecting system as claimed in claim 16 including a cylindrical lens (13) having its cylindrical axis lying in said fifth direction to focus the radiation beam deflected by said first optical element (4a; 4b 4c; 41W 1 ) with respect to said third direction to project the deflected radiation beam onto said sensor means (8; 80). A position detecting system as claimed in claim 16 wherein a third optical element (3b) is provided on said second object (1) and has optical power with respect to said third direction and substantially no optical power with respect to said second direction, said directing means (10, 11, 12) being arranged to direct light onto said second optical element (4a) by deflection from said first optical element (3a) such that light deflected by said second optical element (4a) is directed through said third optical element (3b), and focused with respect to said third direction onto said sensor means (8; 80). A position detecting system as claimed in claim 16 wherein a third optical element (41M 2 ) is provided on said second object (1) and has optical power with respect to said second and third direction, and a fourth optical element (41W 2 ) is provided on said first object (2) and has substantially no optical power with respect to said second and third directions, said directing means (10, 11,12) being arranged to direct a portion of the radiation beam onto said third optical element (41M 2 ) to cause the portion of the radiation beam to be deflected therefrom onto said fourth optical element (41W 2 ) so that the portion of the radiation beam is deflected and projected onto said detection plane, the position of incidence of the portion of the radiation beam on said detection plane being shiftable in said fourth direction in accordance with the position of said first object (2) relative to said second object (1) in said first direction; said sensor means (8; 80) comprising a first sensor (38-1) for sensing the radiation beam deflected by said second optical element (41W 1 ) at said detection plane and a second sensor (38-2) for sensing the portion of the radiation beam deflected by said fourth optical element (41W 2 ); said detecting means (102) being adapted to detect the position of said first object (2) relative to said second object (1) by determining the position of incidence of the deflected portion of the radiation beam on said second sensor (38-2) with respect to said fourth direction and the position of incidence of the deflected radiation beam on said first sensor (38-1) with respect to said fifth direction. A position detecting system as claimed in claim 19 wherein said detecting means (102) is further adapted to detect relative inclination between said first and second objects (2, 1) on the basis of the positions of incidence the deflected radiation beam and the deflected portion of the radiation beam on said first and second sensors (38-1, 38-2) respectively with respect to said fifth direction. A position detecting system as claimed in claim 16 wherein said second optical element (3c) has optical power with respect to said second and third directions; said directing means (10, 11, 12) being arranged to direct the radiation beam onto said first optical element (3c) to cause the radiation beam to be deflected therethrough onto said second optical element (4a) and reflected and deflected thereby through said first optical element (3c) to be focused onto said sensor means (8; 80). Alignment apparatus for aligning first and second objects (2, 1), the apparatus comprising the position detecting system of any one of claims 16 to 21; and alignment means (100, 101) for aligning said first object (2) with said second object (1) by adjusting the relative positional relationship between said first object (2) and said second object (1) with respect to said first and second directions. Apparatus for manufacturing a semiconductor device, the apparatus comprising the alignment apparatus of claim 22; and exposure means for exposing said substrate with a circuit pattern of said mask or reticle with radiation.

Inventors: MATSUGU MASAKAZU, SAITOH KENJI, MATSUGU, MASAKAZU, SAITOH, KENJI
Applicants: CANON KK, CANON KABUSHIKI KAISHA
Application year: 1990
Main classification: G03F9
IPC codes: H01L21, G03F9, G01B11, H01J37