Abstract:
Provided is a substrate treating apparatus. The substrate treating apparatus includes: a transfer chamber conveying a substrate; a process chamber disposed adjacent to the transfer chamber and performing a treating process o the substrate; and a drive assembly supplying a power by which a component of the transfer chamber or the process chamber operates, wherein the drive assembly includes: a cylinder connected to pipes; a piston disposed to be movable inside the cylinder and connected to the component by a drive shaft; and a pipe control unit automatically adjusting a moving speed of the piston.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
       [0001]    This U.S. non-provisional patent application claims priority under 35 U.S.C. §119 of Korean Patent Application Nos. 10-2013-0131357, filed on Oct. 31, 2013, and 10-2013-0165403, filed on Dec. 27, 2013, the entire contents of which are hereby incorporated by reference. 
       BACKGROUND OF THE INVENTION 
       [0002]    The present invention disclosed herein relates to a substrate treating apparatus, a drive assembly, and a drive member controlling method. 
         [0003]    The various processes such as cleaning, deposition, photolithography, etching, and ion implantation are performed to fabricate semiconductor devices. Each of the above processes may be performed in process chambers having different configurations. Then, a substrate may be transferred between process chambers by a robot or a transfer chamber including a rail. 
         [0004]    Drive components of such a process chamber or a transfer chamber may be operated by a drive member providing power. Such a drive member may have cylinder and piston structures. 
       SUMMARY OF THE INVENTION 
       [0005]    The present invention provides a substrate treating apparatus automatically adjusting the speed of a piston, a drive assembly, and a drive member controlling method. 
         [0006]    Embodiments of the present invention provide substrate treating apparatus including: a transfer chamber conveying a substrate; a process chamber disposed adjacent to the transfer chamber and performing a treating process o the substrate; and a drive assembly supplying a power by which a component of the transfer chamber or the process chamber operates, wherein the drive assembly includes: a cylinder connected to pipes; a piston disposed to be movable inside the cylinder and connected to the component by a drive shaft; and a pipe control unit automatically adjusting a moving speed of the piston. 
         [0007]    In some embodiments, the pipes may include: a first pipe connected to an upper portion of the cylinder; and a second pipe connected to a lower portion of the cylinder, wherein the pipe control unit may be provided to receive a signal of sensors disposed at the cylinder. 
         [0008]    In other embodiments, the pipe control unit may include: a pipe control module controlling a fluid flowing through the pipes; and a module control part adjusting an operation of the pipe control module on the basis of a signal of the sensors. 
         [0009]    In still other embodiments, the sensors may include: a first sensor disposed at an upper portion of the cylinder; and a second sensor disposed at a lower portion of the cylinder. 
         [0010]    In even other embodiments, the module control part may detect a moving speed of the piston through a change of a signal transmitted from the first sensor and the second sensor. 
         [0011]    In yet other embodiments, the module control part may compare the moving speed and a setting speed of the piston and when the moving speed is out of an error range in relation to the setting speed, may perform an adjustment on the pipe control module. 
         [0012]    In further embodiments, when the moving speed is slower than the setting speed, the module control part may adjust the pipe control module to increase a flow rate of a fluid flowing through the first pipe or the second pipe. 
         [0013]    In still further embodiments, when the moving speed is slower than the setting speed, the module control part may adjust the pipe control module to increase a pressure of a fluid flowing through the first pipe or the second pipe. 
         [0014]    In even further embodiments, when the moving speed is faster than the setting speed, the module control part may adjust the pipe control module to decrease a flow rate of a fluid flowing through the first pipe or the second pipe. 
         [0015]    In yet further embodiments, when the moving speed is faster than the setting speed, the module control part may adjust the pipe control module to decrease a pressure of a fluid flowing through the first pipe or the second pipe. 
         [0016]    In yet further embodiments, the pipe control unit may include a piezo actuator. 
         [0017]    In other embodiments of the present invention, drive assemblies include: a cylinder connected to pipes; a piston disposed to be movable inside the cylinder and having one side where a drive shaft is provided; and a pipe control unit automatically adjusting a moving speed of the piston. 
         [0018]    In some embodiments, the pipes may include: a first pipe connected to an upper portion of the cylinder; and a second pipe connected to a lower portion of the cylinder, wherein the pipe control unit is provided to receive a signal of a first sensor disposed at an upper portion of the cylinder and a second sensor disposed at a lower portion of the cylinder. 
         [0019]    In other embodiments, the pipe control unit may include: a pipe control module controlling a fluid flowing through the pipes; and a module control part adjusting an operation of the pipe control module on the basis of signals of the first sensor and the second sensor. 
         [0020]    In still other embodiments, the module control part may detect a moving speed of the piston through a change of a signal transmitted from the first sensor and the second sensor. 
         [0021]    In even other embodiments, the module control part may compare the moving speed and a setting speed of the piston and when the moving speed is out of an error range in relation to the setting speed, may perform an adjustment on the pipe control module. 
         [0022]    In still other embodiments of the present invention, provided are methods of controlling a drive member. The method include: detecting a moving speed of a piston moving inside a cylinder; when it is determined that the moving speed of the piston is out of an error range in relation to a setting speed, automatically adjusting a flow of a fluid supplied to the cylinder when the piston is driven next time. 
         [0023]    In some embodiments, the methods may increasing an amount of a fluid supplied to the cylinder when the moving speed of the piston is slower than the setting speed. 
         [0024]    In other embodiments, the methods may increasing a fluid pressure of a fluid supplied to the cylinder when the moving speed of the piston is slower than the setting speed. 
         [0025]    In still other embodiments, the methods may decreasing an amount of a fluid supplied to the cylinder when the moving speed of the piston is faster than the setting speed. 
         [0026]    In even other embodiments, the methods may decreasing a fluid pressure of a fluid supplied to the cylinder when the moving speed of the piston is faster than the setting speed. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0027]    The accompanying drawings are included to provide a further understanding of the present invention, and are incorporated in and constitute a part of this specification. The drawings illustrate exemplary embodiments of the present invention and, together with the description, serve to explain principles of the present invention. In the drawings: 
           [0028]      FIG. 1  is a plan view of a substrate treating apparatus according to an embodiment of the present invention; 
           [0029]      FIG. 2  is a view illustrating a drive assembly according to an embodiment of the present invention; 
           [0030]      FIG. 3  is a view illustrating a pipe control unit; 
           [0031]      FIG. 4  is a view illustrating a specific configuration of a pipe control module; 
           [0032]      FIG. 5  is a flowchart illustrating an operation of a pipe control unit. 
           [0033]      FIG. 6  is a view when a piston moves from a lower portion of a cylinder to an upper portion thereof; and 
           [0034]      FIG. 7  is a view when a piston moves from an upper portion of a cylinder to a lower portion thereof. 
       
    
    
     DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS 
       [0035]    Hereinafter, preferred embodiments are described in detail with reference to the accompanying drawings. The present invention may, however, be embodied in different forms and should not be constructed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the present invention to those skilled in the art. In the drawings, the dimensions of layers and regions are exaggerated for clarity of illustration. 
         [0036]      FIG. 1  is a plan view of a substrate treating apparatus according to an embodiment of the present invention. 
         [0037]    Referring to  FIG. 1 , the substrate treating apparatus  1  has includes an index module  10  and a process treating module  20 . The index module  10  includes a load port  120  and a transfer frame  140 . The load port  120 , the transfer frame  140 , and the process treating module  20  are arranged in a line sequentially. Hereinafter, a direction in which the load port  120 , the transfer frame  140 , and the process treating module  20  are arranged is referred to as a first direction  12 . As seen from the top, a direction vertical to the first direction  12  is referred to as a second direction  14 . A direction vertical to a plane including the first direction  12  and the second direction  14  is referred to as a third direction  16 . 
         [0038]    A carrier  130  accommodating a substrate W is disposed at the load port  140 . The load port  120  is provided in plurality and they are disposed in a line along the second direction  14 . The number of load ports  120  may be increased or decreased according to the process efficiency and footprint condition of the process treating module  20 . A plurality of slots (not shown) for accommodating the substrates W to be disposed parallel to the ground are formed in the carrier  130 . A front opening unified pod (FOUP) may be used as the carrier  130 . 
         [0039]    The process treating module  20  includes a buffer unit  220 , a transfer chamber  240 , and a process chamber  260 . The length direction of the transfer chamber  240  is disposed parallel to the first direction  12 . The process chambers  260  are disposed at each of the both sides of the transfer chamber  240 . The process chambers  260  are provided to be symmetric relative to the transfer chamber  240  at the one side and the other side of the transfer chamber  240 . The plurality of process chambers  260  are provided at one side of the transfer chamber  240 . Some of the process chambers  260  are disposed along the length direction of the transfer chamber  240 . Additionally, some of the process chambers  260  are disposed to be stacked each other. That is, the process chambers  260  are disposed in an arrangement of A×B at one side of the transfer chamber  240 . Herein, A is the number of the process chambers  260  provided in a line along the first direction  12  and B is the number of the process chambers  260  provided in a line along the third direction  16 . When four or six process chambers  260  are provided at one side of the transfer chamber  240 , the process chambers  260  may be disposed in an arrangement of 2×2 or 3×2. The number of the process chambers  260  may be increased or decreased. Unlike that described above, the process chamber  260  may be provided at only one side of the transfer chamber  240 . Additionally, the process chamber  260  may be provided as a single layer at one side or both sides of the transfer chamber  240 . 
         [0040]    The buffer unit  220  is disposed between the transfer frame  140  and the transfer chamber  240 . The buffer unit  220  provides a space where the substrate W stays before the substrate W is conveyed between the transfer chamber  240  and the transfer frame  140 . A slot (not shown) where the substrate W is disposed is provided inside the buffer unit  220 . The slot (not shown) is provided in plurality to be spaced from each other along the third direction  16 . In relation to the buffer unit  220 , a side facing the transfer frame  140  and a side facing the transfer chamber  240  are opened. 
         [0041]    The transfer frame  150  conveys the substrate W between the carrier  130  seated on the load port  120  and the buffer unit  220 . An index rail  142  and an index robot  144  are provided to the transfer frame  140 . The length direction of the index rail  142  is provided parallel to the second direction  14 . The index robot  144  is installed on the index rail  142  and linearly moves in the second direction  14  along the index rail  142 . The index robot  144  has a base  144   a , a body  144   b , and an index arm  144   c . The base  144   a  is installed to be movable along the index rail  142 . The body  144   b  is coupled to the base  144   a . The body  144   b  is provided to move along the third direction  16  on the base  144   a . Additionally, the body  144   b  is provided to be rotatable on the base  144   a . The index arm  144   c  is coupled to the body  144   b  and is provided to be moved forward or backward against the body  144   b . The index arm  144   c  is provided in plurality and is provided to be driven individually. The index arms  144   c  are disposed to be stacked spaced apart from each other along the third direction  16 . Some of the index arms  144   c  may be used when the substrate W is conveyed from the process treating module  20  to the carrier  130  and the others may be used when the substrate W is conveyed from the carrier  130  to the process treating module  20 . This may prevent particles generated from the substrate W before a process treatment when the index robot  144  loads and unloads the substrate W from being attached to the substrate W after a process treatment. 
         [0042]    The transfer chamber  240  conveys the substrate between the buffer unit  220  and the process chamber  260  and between the process chambers  260 . A guide rail  242  and a main robot  244  are provided to the transfer chamber  240 . The length direction of the guide rail  242  is disposed parallel to the first direction  12 . The main robot  244  is installed on the guide rail  242  and linearly moves along the first direction  12  on the guide rail  242 . The main robot  244  has a base  244   a , a body  244   b , and a main arm  244   c . The base  244   a  is installed to be movable along the guide rail  242 . The body  244   b  is coupled to the base  244   a . The body  244   b  is provided to be movable along the third direction  16  on the base  244   a . Additionally, the body  244   b  is provided to be rotatable on the base  244   a . The main arm  244   c  is coupled to the body  244   b  and is provided to be moved forward or backward against the body  244   b . The main arm  244   c  is provided in plurality and is provided to be driven individually. The main arms  244   c  are disposed to be stacked spaced apart from each other along the third direction  16 . 
         [0043]    The process chamber  260  performs a treatment process on the substrate W. A process performed in the process chamber  260  may be a cleaning, deposition, photolithography, etching, or ion implantation process on a substrate. 
         [0044]      FIG. 2  is a view illustrating a drive assembly according to an embodiment of the present invention. 
         [0045]    Referring to  FIG. 2 , the drive assembly  800  provides a power for an operation of one component of the substrate treating apparatus  1 . The drive assembly  800  includes a drive member  810  and a pipe control unit  830 . 
         [0046]    The drive member  810  provides a power for an operation of one component of the substrate treating apparatus  1 . For example, the drive member  810  is connected to the index robot  144  or the main robot  244 , so that it may provide a power for driving the index robot  144  or the main robot  244 . Additionally, the drive member  810  is provided to the buffer unit  220 , the transfer chamber  240 , or the process chamber  260 , so that it provides a power for operations of the above units&#39; components. 
         [0047]    The drive member  810  includes a cylinder  811  and a piston  812 . A space where the piston  812  reciprocates is formed inside the cylinder  811 . A drive shaft  813  is connected to one side of the piston  812 . The drive shaft  813  delivers a power generated from the movement of the piston  812  to components of the substrate treating apparatus  1 . Hereinafter, one side of the drive shaft  813  connected to the outside in the cylinder  811  is referred to as the upper portion of the cylinder  811  and the opposite side is referred to as the lower portion of the cylinder  811 . 
         [0048]    A first hole  814  and a second hole  815  are formed in the cylinder  811 . The first hole  814  is formed in an upper sidewall of the cylinder  811  and the second hole  815  is formed in a lower sidewall of the cylinder  811 . The piston  812  may move between the first hole  814  and the second hole  815  by a gas supplied to the first hole  814  or the second hole  815 . 
         [0049]    Sensors  816  and  817  are provided to a side of the cylinder  811 . The sensors  816  and  817  include a first sensor  816  positioned at the top of the cylinder  811  and a second sensor  817  positioned at the bottom of the cylinder  811 . The first sensor  816  and the second sensor  817  may detect whether the piston  812  is disposed at the upper or lower portion of the cylinder  811 . 
         [0050]    The pipe control unit  830  is connected to the drive member  810  to adjust an operation of the drive member  810 . In more detail, each of the first hole  814  and the second hole  815  is connected to the pipe control unit  830  through a first pipe  821  and a second pipe  822 . Additionally, the pipe control unit  830  is connected to a fluid supply source  850 . The fluid supply source  850  stores a fluid to be supplied to the first pipe  821  and the second pipe  822 . The pipe control unit  830  may adjust the amount of fluid supplied to the cylinder  811  through the first hole  814  or discharged from the cylinder  811  through the first hole  814 . Additionally, the pipe control unit  830  may adjust the amount of fluid supplied to the cylinder  811  through the second hole  815  or discharged from the cylinder  811  through the second hole  815 . 
         [0051]    The pipe control unit  830  receives a detected signal from the first sensor  816  and the second sensor  817 . Additionally, the pipe control unit  830  may be connected to the control member  860 . The control member  860  may store information relating to an operation of the drive member  810 . For example, the control member  860  may store a setting speed when the piston  812  moves from the top of the cylinder  811  to the bottom or from the bottom of the cylinder  811  to the top. Additionally, the control member  860  may store information on a time interval between the operation end and the next operation start of the piston  812 . A user may change the above information stored in the control member  860 . The control member  860  is connected to the pile control unit  830  wirelessly or wiredly and provides information relating to an operation of the drive member  810  to the pipe control unit  830 . Additionally, the control member  860  may store information on a control of each component of the substrate treating apparatus  1 . Additionally, the control member  860  may control an operation of each component of the substrate treating apparatus  1  by using the above information. The pipe control unit  830  may adjust the amount of fluid supplied to the first pipe  821  or the second pipe  822  or discharged from the first pipe  821  or the second pipe  822  through information provided from the first sensor  816 , the second sensor  817 , and the control member  860 . 
         [0052]      FIG. 3  is a view illustrating a pipe control unit. 
         [0053]    Referring to  FIGS. 2 and 3 , the pipe control unit  830  may detect the moving speed of the piston  812 . 
         [0054]    The pipe control unit  830  includes a module control part  831  and a pipe control module  832 . 
         [0055]    The module control part  831  is connected to the sensors  816  and  817  and the pipe control module  832 . The module control part  831  controls the pipe control module  832  through a signal inputted from the sensors  816  and  817  and information provided from the control member  860 . The module control part  831  may calculate the moving speed of the piston  812  through a signal inputted from the sensors  816  and  817 . The piston  812  may move from one lower position of the cylinder  811  to one upper position thereof. Additionally, the piston  812  may move from one upper position of the cylinder  811  to one lower position thereof. Each of the first sensor  816  and the second sensor  817  transmits different information to the module control part  831  according to whether the piston  812  is positioned at the upper or lower portion of the cylinder  811 . For example, when it is detected that the piston  812  is positioned at the upper or lower portion of the cylinder  811 , each of the first sensor  816  and the second sensor  817  may transmit a setting signal to the module control part  831 . Then, as the piston  812  moves and is not positioned at the upper and lower portions, each of the first sensor  816  and the second sensor  817  may not transmit a signal. Accordingly, when the piston  812  moves from the lower portion of the cylinder  811  to the upper portion thereof, first, a signal transmitted from the second sensor  817  changes and then, a signal transmitted from the first sensor  816  changes. Moreover, when the piston  812  moves from the upper portion of the cylinder  811  to the lower portion thereof, first, a signal transmitted from the first sensor  816  changes and then, a signal transmitted from the second sensor  817  changes. The module control part  831  may calculate the moving speed of the piston  812  through a time difference between the signals transmitted from the sensors  816  and  817 . 
         [0056]      FIG. 4  is a view illustrating a specific configuration of a pipe control module. 
         [0057]    Referring to  FIGS. 2 to 4 , when it is determined that the pipe control module  832  needs to be adjusted, the module control part  831  performs an adjustment on the pipe control module  832 . 
         [0058]    The pipe control module  832  includes a first pipe control member  832   a  and a second pipe control member  832   b.    
         [0059]    The first pipe control member  832   a  is connected to each of the first pipe  821  and the fluid supply source  850 . The first pipe control member  860  adjusts the fluid supplied from the fluid supply source  850  to an upper space of the cylinder  811  through the first pipe  821 . Additionally, the first pipe control member  832   a  may adjust the fluid discharged from an upper space of the cylinder  811  to the outside through the first pipe  821 . The first pipe control member  832   a  may be configured including a piezo actuator. The piezo actuator provides a fast response to a signal of the module control part  831 , so that it is possible to improve the drivability of the drive member  810 . 
         [0060]    The second pipe control member  832   b  is connected to each of the second pipe  822  and the fluid supply source  850 . The second pipe control member  832   b  adjusts the fluid supplied from the fluid supply source  850  to a lower space of the cylinder  811  through the second pipe  822 . Additionally, the second pipe control member  832   b  may adjust the fluid discharged from a lower space of the cylinder  811  to the outside through the second pipe  822 . The second pipe control member  832   b  may be configured including a piezo actuator. The piezo actuator provides a fast response to a signal of the module control part  831 , so that it is possible to improve the drivability of the drive member  810 . 
         [0061]    The module control part  831  is connected to the first pipe control member  832   a  and the second pipe control member  832   b  to control operations thereof. 
         [0062]      FIG. 5  is a flowchart illustrating an operation of a pipe control unit.  FIG. 6  is a view when a piston moves from a lower portion of a cylinder to an upper portion thereof. 
         [0063]    Referring to  FIGS. 2 to 6 , a process that after the piston  812  moves from a lower portion of the cylinder  811  to an upper portion thereof, the pipe control unit  830  adjusts the speed of the piston  812  is described. 
         [0064]    When the piston  812  moves from a lower portion of the cylinder  811  to an upper portion thereof, the fluid of the first pipe  821  flows from the cylinder  811  to the first pipe control member  832   a  and the fluid of the second pipe  822  flows from the second pipe control member  832   b  to the cylinder  811 . In more detail, the pipe control unit  830  controls the first pipe control member  832   a  to allow the fluid at an upper portion of the cylinder  811  to flow into the first pipe  821  and then be discharged into the outside. Then, the pipe control unit  830  controls the second pipe control member  832   b  to allow the fluid of the fluid supply source  850  to be supplied to a lower portion of the cylinder  811  through the second pipe  822 . At this point, the pipe control unit  830  controls an operation of the first pipe control member  832   a  or the second pipe control member  832   b  through a factor value. 
         [0065]    For example, a factor value may be the flow rate of a fluid flowing through the pipes  821  and  822 . That is, when the amount of a fluid flowing through the pipes  821  and  822  is increased, the moving speed of the piston  812  may be increased. Accordingly, the pipe control unit  830  may control the first pipe control member  832   a  to allow the flow rate of a fluid discharged through the first pipe  821  to be a factor discharge amount. Additionally, the pipe control unit  830  may control the second pipe control member  832   b  to allow the flow rate of a fluid flowing through the second pipe  822  to be a factor inflow amount. Additionally, the pipe control unit  830  may adjust the above factor discharge amount and factor inflow amount together. 
         [0066]    Additionally, a factor value may be the pressure of a fluid that flows through a pipe. The speed of the piston  812  may vary according to the pressure of a fluid. As one factor of the above, the above is caused due to a friction force acting between the piston  812  and the cylinder  811 , which acts greater when the piston  812  starts to move compared to while the piston  812  moves. As another factor, the above is caused due to a density change of a fluid changing according to the pressures of the fluid. Accordingly, the pipe control unit  830  may adjust the first pipe control member  832   a  to allow the pressure of a fluid discharged through the first pipe  821  to be a factor discharge pressure. Additionally, the pipe control unit  830  may adjust the second pipe control member  832   b  to allow the pressure of a fluid flowing through the second pipe  822  to be a factor inflow pressure. Additionally, the pipe control unit  830  may adjust the above factor discharge pressure and factor inflow pressure together. 
         [0067]    The moving speed of the piston  812  may vary with respect to the same factor value. For example, the moving speed of the piston  812  may vary according to a configuration of the substrate treating apparatus  1  connected to the drive shaft  813 . Additionally, the moving speed of the piston  812  may change during a process of using the substrate treating apparatus  1 . That is, the moving speed of the piston  812  may change due to a change of a frictional force between the piston  812  and the cylinder  811  and a load connected to the drive shaft  813  as the substrate treating apparatus  1  is used. 
         [0068]    When the movement of the piston  812  is completed, the pipe control unit  830  detects the transfer speed of the piston  812  in operation S 100 . In more detail, as the piston  812  moves, a signal that the second sensor  817  and the first sensor  816  transmit to the module control part  831  changes. The module control part  831  may calculate the moving speed of the piston  2  through a time difference between the signals transmitted from the second sensor  817  and the first sensor  816 . 
         [0069]    Then, the module control part  831  determines whether to adjust the pipe control module  832  by comparing the moving speed of the piston  812  and the setting speed of the piston  812  provided from the control member  860  in operation S 200 . The module control part  831  may consider an error range when comparing the moving speed and the setting speed. The error range may be set to a percentile value. For example, when the error range is 1% of the setting speed, that is, the moving speed corresponds to 99% to 101% of the setting speed, the module control part  831  determines that it is unnecessary to adjust the pipe control module  822 . Additionally, the error range may be set to a real value. That is, when the moving speed of the piston  812  is greater than a value obtained by adding the real value or less than a value obtained by subtracting the real value, the module control part  831  determines that it is unnecessary to adjust the pipe control module  822 . 
         [0070]    When it is necessary to adjust the pipe control module  832 , the module control part  831  adjusts an operation of the pipe control module  832  by adjusting a factor value in operation S 300 . 
         [0071]    First, when the moving speed of the piston  812  is lower than the setting speed, the module control part  831  increases a factor value. For example, when the factor value is the flow rate of a fluid flowing through a pipe, a factor discharge flow rate may be increased so as to increase the flow rate of a fluid discharged through the first pipe  821 . Additionally, a factor inflow flow rate may be increased so as to increase the flow rate of a fluid inflowing through the second pipe  822 . Additionally, the factor discharge flow rate and the factor inflow flow rate may be increased together. Then, when the factor value is the pressure of a fluid flowing through a pipe, a factor discharge pressure may be increased so as to increase the pressure of a fluid discharged through the first pipe  821 . Additionally, a factor inflow pressure may be increased so as to increase the pressure of a fluid inflowing through the second pipe  822 . Additionally, the factor discharge pressure and the factor inflow pressure may be increased together. Then, when the factor value is the flow rate and the pressure of a fluid flowing through a pipe, one of a factor inflow flow rate factor and a factor outflow flow rate and one of a factor inflow pressure and a factor outflow pressure are combined and increased. 
         [0072]    On the other hand, when the moving speed of the piston  812  is faster than the setting speed, the module control part  831  reduces a factor value. For example, when the factor value is the flow rate of a fluid flowing through a pipe, a factor discharge flow rate may be decreased so as to decrease the flow rate of a fluid discharged through the first pipe  821 . Additionally, a factor inflow flow rate may be decreased so as to decrease the flow rate of a fluid inflowing through the second pipe  822 . Additionally, the factor discharge flow rate and the factor inflow flow rate may be decreased together. Then, when the factor value is the pressure of a fluid flowing through a pipe, a factor discharge pressure may be decreased so as to decrease the pressure of a fluid discharged through the first pipe  821 . Additionally, a factor inflow pressure may be increased so as to decrease the pressure of a fluid inflowing through the second pipe  822 . Additionally, the factor discharge pressure and the factor inflow pressure may be decreased together. Then, when the factor value is the flow rate and the pressure of a fluid flowing through a pipe, one of a factor inflow flow rate factor and a factor outflow flow rate and one of a factor inflow pressure and a factor outflow pressure are combined and decreased. 
         [0073]      FIG. 7  is a view when a piston moves from an upper portion of a cylinder to a lower portion thereof. 
         [0074]    Referring to  FIG. 7 , when the piston  812  moves from an upper portion of the cylinder  811  to a lower portion thereof, the fluid of the first pipe  821  flows from the first pipe control member  832   a  to the cylinder  811  and the fluid of the second pipe  822  flows from the cylinder  811  to the second pipe control member  832   b . In more detail, the pipe control unit  830  controls the first pipe control member  832   a  to allow the fluid of the fluid supply source  850  to be supplied to an upper portion of the cylinder  811  through the first pipe  821 . Then, the pipe control unit  830  controls the second pipe control member  832   b  to allow the fluid at a lower portion of the cylinder  811  to flow through the second pipe  822  and then be discharged into the outside. At this point, the pipe control unit  830  controls an operation of the first pipe control member  832   a  or the second pipe control member  832   b  through a factor value. The pipe control unit  830  may separately set a first factor value used for a control when the cylinder  811  moves from the bottom to the top and a second factor value used for a control when the cylinder  811  moves from the top to the bottom. Since after the movement of the piston  812  is completed, detecting the moving speed of the piston  812 , determining whether it is necessary to adjust the pipe control module  832 , and adjusting an operation of the pipe control module  832 , by the pipe control unit  830 , are similar to when the piston  812  of  FIG. 6  moves from the bottom of the cylinder  811  to the top thereof, overlapping descriptions are omitted. 
         [0075]    According to an embodiment of the present invention, after the movement of the piston  812  is completed, when the moving speed of the piston  812  is different from the setting speed, the pipe control module  832  is automatically adjusted by using a factor value. Additionally, each time the piston  812  moves several times, the adjustment of the pipe control module  832  is performed, so that the moving speed of the piston  812  becomes the setting speed. Accordingly, according to an embodiment of the present invention after the drive assembly  800  is installed at the substrate treating apparatus  1 , a factor value is adjusted automatically. Moreover, a factor value may be adjusted automatically according to a friction coefficient change between the cylinder  811  and the piston  812  and a change in load acting on the drive member  810  while the substrate treating apparatus  1  is used. 
         [0076]    According to an embodiment of the present invention, the speed of a piston may be adjusted automatically. 
         [0077]    The above-disclosed subject matter is to be considered illustrative, and not restrictive, and the appended claims are intended to cover all such modifications, enhancements, and other embodiments, which fall within the true spirit and scope of the present invention. Thus, to the maximum extent allowed by law, the scope of the present invention is to be determined by the broadest permissible interpretation of the following claims and their equivalents, and shall not be restricted or limited by the foregoing detailed description.