Patent Publication Number: US-11037808-B2

Title: Substrate processing apparatus and substrate processing method

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a divisional of U.S. patent application Ser. No. 14/753,063, filed Jun. 29, 2015, which claims the benefit of Japanese Patent Application No. 2014-147276, filed Jul. 18, 2014, the contents of which are incorporated herein by reference. 
    
    
     BACKGROUND OF THE INVENTION 
     Field of the Invention 
     The present invention relates to a substrate processing apparatus and a substrate processing method. 
     Description of Related Art 
     Substrate processing apparatuses are used to subject various types of substrates such as semiconductor substrates, substrates for liquid crystal displays, plasma displays, optical disks, magnetic disks, magneto-optical disks, photomasks, or other substrates to various types of processing. In such a substrate processing apparatus, a plurality of substrates are sequentially transported by a transport device to a predetermined substrate supporter in a processing section. The processing section performs predetermined processing on the substrate transported to the substrate supporter. It is desired that the substrate is placed on the substrate supporter with a center of the substrate accurately coinciding with a desired position in the substrate supporter in order to improve accuracy of processing for the substrate. Teaching regarding the transport device is performed during installment or maintenance of the substrate processing apparatus, whereby a deviation between a position of the substrate supporter at which the substrate is to be supported and a position at which the substrate is actually supported is corrected. 
     In a substrate processing apparatus described in JP 11-163083 A, a jig including an optical sensor is held by an arm of a transport device during teaching. Three pins are formed at a substrate supporter. The jig held by the arm is brought closer to the three pins until the jig and the pins have a predetermined relative positional relationship. In this state, the arm is moved in a plurality of predetermined directions, so that positions of two pins of the three pins are detected as positional information by the optical sensor of the jig. The position of the substrate supporter to which the arm accesses is set based on the detected positional information. 
     BRIEF SUMMARY OF THE INVENTION 
     As described in JP 11-163083 A, the dedicated jig is used for the teaching, so that a burden on an operator caused by the teaching is reduced. However, a burden on the operator due to maintenance and management of the jig is increased. Further, a cost for purchase of the jig is increased, and a cost resulting from the maintenance and management of the jig is increased. 
     An object of the present invention is to provide a substrate processing apparatus and a substrate processing method capable of performing teaching regarding a transport device at a low cost while a burden on an operator is reduced. 
     (1) A substrate processing apparatus according to one aspect of the present invention that performs processing on a substrate includes a substrate supporter that has a preset reference position and is configured to be capable of supporting the substrate, a first transport device that has a first holder configured to hold the substrate and transports the substrate by moving the first holder, a position detector that detects a positional relationship between the substrate held by the first holder and the first holder, and a controller that controls the first transport device to move the first holder and transfer the substrate to the substrate supporter or controls the first transport device to move the first holder and receive the substrate from the substrate supporter, wherein the controller controls the first transport device to move the first holder to a target position in the substrate supporter and receive the substrate supported at the reference position in the substrate supporter, acquires a deviation between the target position and the reference position as correction information based on the positional relationship detected by the position detector, during a teaching operation regarding the first transport device, corrects the target position based on the acquired correction information such that the target position coincides with the reference position, during the teaching operation or during substrate processing, and controls the first transport device such that the first holder is moved to the corrected target position, during the substrate processing. 
     In this substrate processing apparatus, during the teaching operation regarding the first transport device, the first holder of the first transport device is moved to the target position in the substrate supporter, and the substrate supported at the reference position in the substrate supporter is received by the first holder. The positional relationship between the substrate held by the first holder and the first holder is detected. The deviation between the target position and the reference position is acquired as the correction information based on the detected positional relationship. 
     During the teaching operation or during the substrate processing, the target position is corrected based on the acquired correction information to coincide with the reference position. During the substrate processing, the first holder is moved to the corrected target position, so that the substrate is transferred to the substrate supporter by the first holder or the substrate is received from the substrate supporter by the first holder. Thus, the substrate can be transferred to the substrate supporter by the first holder to be supported at the reference position, or the first holder can be moved to the substrate supporter to receive the substrate supported at the reference position. 
     This configuration causes the first holder of the first transport device to receive the substrate supported at the reference position by the substrate supporter, so that the teaching operation regarding the first transport device is performed. Thus, a burden on an operator due to the teaching regarding the first transport device is reduced. In this case, it is not necessary to prepare the dedicated jig in order to perform the teaching regarding the first transport device. Therefore, a burden on the operator due to the maintenance and management of the jig does not occur, and a cost resulting from the purchase of the jig, and maintenance and management of the jig does not occur either. As a result, the teaching regarding the first transport device can be performed at a low cost while a burden on the operator is reduced. 
     (2) The substrate supporter may include a guide mechanism that leads the substrate to the reference position, and the substrate may be led to the reference position in the substrate supporter by the guide mechanism during the teaching operation. 
     In this case, the substrate is led to the reference position by the guide mechanism. Thus, during the teaching operation, it is not necessary for the operator to perform an operation for positioning the substrate at the reference position. Therefore, a burden on the operator is more sufficiently reduced. Further, also during the substrate processing, the substrate is accurately positioned at the reference position in the substrate supporter by the guide mechanism. 
     (3) The substrate processing apparatus may further include a storage container that stores the substrate, wherein the storing container may include the substrate supporter and may be configured to store the substrate at the reference position by the guide mechanism, the target position may be set in the storing container, and the controller may control the first transport device to move the first holder to the target position in the storing container and receive the substrate stored at the reference position in the storing container, during the teaching operation. 
     In this case, the substrate is stored at the reference position in the storage container by the guide mechanism. Thus, during the teaching operation, it is not necessary for the operator to perform the operation for positioning the substrate at the reference position. Therefore, a burden on the operator is more sufficiently reduced. 
     (4) The substrate processing apparatus may further include a processing unit that performs processing on the substrate, wherein the processing unit may include the substrate supporter, the target position may be set in the processing unit, and the controller may control the first transport device to move the first holder to the target position in the processing unit and receive the substrate supported at the reference position by the guide mechanism in the processing unit, during the teaching operation. 
     In this case, the substrate is supported at the reference position by the guide mechanism in the processing unit. Further, it is not necessary for the operator to perform the operation for positioning the substrate at the reference position. Therefore, a burden on the operator is more sufficiently reduced. 
     (5) The substrate processing apparatus may further include a substrate platform, including the substrate supporter, on which the substrate is temporarily placed, and a second transport device that has a second holder configured to hold the substrate and transports the substrate by moving the second holder, wherein the target position may be set on the substrate platform, and the controller may control the second transport device to move the second holder to the substrate supporter of the substrate platform and place the substrate on the substrate supporter, may consider a position of the substrate placed on the substrate supporter as the reference position, and may control the first transport device to move the first holder to the target position on the substrate platform and receive the substrate placed on the substrate supporter, during the teaching operation. 
     In this case, the substrate is received and transferred between the first holder of the first transport device and the second holder of the second transport device via the substrate platform. The position of the substrate placed on the substrate platform by the second holder is considered as the reference position. Thus, it is not necessary for the operator to perform the operation for positioning the substrate at the reference position. Therefore, a burden on the operator is more sufficiently reduced. 
     (6) The substrate processing apparatus may further include a second transport device that has a second holder configured to hold the substrate as the substrate supporter and transports the substrate by moving the second holder, wherein the target position may be set in the second holder at a time of receiving and transferring of the substrate between the first transport device and the second transport device, the controller may consider a position of the substrate held by the second holder as the reference position, and may control the first transport device to move the first holder to the target position in the second holder and receive the substrate from the second holder, during the teaching operation. 
     In this case, the substrate is received and transferred between the first holder of the first transport device and the second holder of the second transport device. The position of the substrate held by the second holder is considered as the reference position. Thus, it is not necessary for the operator to perform the operation for positioning the substrate at the reference position. Therefore, a burden on the operator is more sufficiently reduced. 
     (7) A substrate processing apparatus according to another aspect of the present invention that performs processing on a substrate includes a substrate supporter that has a preset reference position and is configured to hold the substrate in a horizontal attitude and be rotatable about the reference position, a first transport device that has a first holder configured to hold the substrate and transports the substrate by moving the first holder, a position detector that detects a positional relationship between the substrate held by the first holder and the first holder, and a controller that controls the first transport device to move the first holder and transfer the substrate to the substrate supporter or controls the first transport device to move the first holder and receive the substrate from the substrate supporter, wherein the controller controls the first transport device to move the first holder to a target position in the substrate supporter and transfer the substrate to the substrate supporter, controls the substrate supporter such that the substrate supported by the substrate supporter is rotated by a predetermined angle, controls the first transport device to move the first holder to the target position in the substrate supporter and receive the substrate supported by the substrate supporter, acquires a deviation between the target position and the reference position as correction information based on a positional relationship between the first holder and the substrate detected by the position detector before the substrate is transferred to the substrate supporter and the positional relationship between the first holder and the substrate detected by the position detector after the substrate is received from the substrate supporter, during a teaching operation regarding the first transport device, corrects the target position to coincide with the reference position based on the acquired correction information, during the teaching operation or during substrate processing, and controls the first transport device to move the first holder to the corrected target position during the substrate processing. 
     In this substrate processing apparatus, during the teaching operation regarding the first transport device, the positional relationship between the substrate held by the first holder of the first transport device and the first holder is detected. The first holder of the first transport device is moved to the target position in the substrate supporter, and the substrate is transferred to the substrate supporter. The substrate supported by the substrate supporter in a horizontal attitude is rotated about the reference position by a predetermined angle. The first holder is moved to the target position in the substrate supporter, and the substrate supported by the substrate supporter is received and held by the first holder. Thereafter, the positional relationship between the substrate held by the first holder and the first holder is detected. The deviation between the target position and the reference position is acquired as the correction information based on the positional relationship between the first holder and the substrate before the substrate is transferred to the substrate supporter and the positional relationship between the first holder and the substrate after the substrate is received from the substrate supporter. 
     During the teaching operation or during the substrate processing, the target position is corrected to coincide with the reference position based on the acquired correction information. During the substrate processing, the first holder is moved to the corrected target position, so that the substrate is transferred to the substrate supporter by the first holder, or the substrate is received from the substrate supporter by the first holder. Thus, the substrate can be transferred to the substrate supporter by the first holder to be supported at the reference position, or the first holder can be moved to the substrate supporter to receive the substrate supported at the reference position. 
     This configuration causes the first holder of the first transport device to transfer the substrate to the substrate supporter and receive the rotated substrate, so that the teaching operation regarding the first transport device is performed. Thus, a burden on the operator due to the teaching regarding the first transport device is reduced. In this case, it is not necessary to prepare the dedicated jig in order to perform the teaching regarding the first transport device. Therefore, a burden on the operator due to the maintenance and management of the jig does not occur, and a cost resulting from the purchase of the jig, and the maintenance and management of the jig does not occur either. As a result, the teaching regarding the first transport device can be performed at a low cost while a burden on the operator is reduced. 
     (8) The predetermined angle may be 180 degrees. In this case, the correction information can be easily acquired based on the positional relationship between the first holder and the substrate before the substrate is transferred to the substrate supporter and the positional relationship between the first holder and the substrate after the substrate is received from the substrate supporter. 
     (9) The substrate processing apparatus may further include a holding detector detecting that the first holder has held a lower surface of the substrate, wherein the controller may control the first transport device to lift the first holder from below the substrate supported at a reference height by the substrate supporter, may determine a target height in a vertical direction based on a position of the first holder in the vertical direction at a detection time point by the holding detector, during the teaching operation, and may control the first transport device to move the first holder to the determined target height when the first holder is moved to the substrate supporter during the substrate processing. 
     In this case, the first holder of the first transport device receives the substrate supported by the substrate supporter, so that the teaching operation in the vertical direction regarding the first transport device is performed. Thus, a burden on the operator due to the teaching in the vertical direction regarding the first transport device is reduced. Therefore, it is not necessary to prepare the dedicated jig in order to perform the teaching operation regarding the first transport device. Therefore, a burden on the operator due to the maintenance and management of the jig does not occur, and a cost resulting from the purchase of the jig, and the maintenance and management of the jig does not occur either. As a result, the teaching in the vertical direction regarding the first transport device can be performed at a low cost while a burden on the operator is reduced. 
     (10) The first transport device may have the plurality of first holders, and the controller may control the first transport device such that the substrate is transported between one first holder and another first holder via the substrate supporter, may acquire a deviation between a target position corresponding to the other first holder and the reference position as correction information corresponding to the other first holder based on a positional relationship between the one first holder and the substrate, a positional relationship between the other first holder and the substrate and correction information corresponding to the one first holder, during the teaching operation, may correct the target position corresponding to the other first holder based on the acquired correction information corresponding to the other first holder such that the target position corresponding to the other first holder coincides with the reference position, during the teaching operation or during the substrate processing, and may control the first transport device to move the other first holder to the corrected target position corresponding to the other first holder during the substrate processing. 
     In this case, the correction information corresponding to the other first holder can be easily acquired based on the correction information corresponding to the one first holder of the first transport device. 
     (11) A substrate processing apparatus according to yet another aspect of the present invention that performs processing on a substrate includes a substrate supporter configured to be capable of supporting the substrate, a transport device that has a holder configured to hold the substrate and transports the substrate by moving the holder, a holding detector detecting that the holder has held a lower surface of the substrate, and a controller that controls the transport device to move the holder and transfer the substrate to the substrate supporter or controls the transport device to move the holder and receive the substrate from the substrate supporter, wherein the controller controls the transport device to lift the holder from below the substrate supported by the substrate supporter at a reference height, determines a target height in a vertical direction based on a position of the holder in the vertical direction at a detection time point by the holding detector, during a teaching operation regarding the transport device, and controls the transport device to move the holder to the determined target height when the holder is moved to the substrate supporter during substrate processing. 
     In this substrate processing apparatus, during the teaching operation regarding the transport device, the holder of the transport device is lifted from below the substrate supported at the reference height by the substrate supporter. It is detected that the holder has held the lower surface of the substrate. The target height in the vertical direction is determined based on the position of the holder in the vertical direction at the detection time point. When the holder is moved to the substrate supporter during the substrate processing, the holder is moved to the determined target height, so that the substrate is transferred to the substrate supporter, or the substrate is received from the substrate supporter. Thus, the substrate can be transferred to the substrate supporter by the holder to be supported at the reference height, or the holder can be moved to the substrate supporter to receive the substrate supported at the reference height. 
     This configuration causes the holder of the transport device to receive the substrate supported by the substrate supporter, so that the teaching operation in the vertical direction regarding the transport device is performed. Thus, a burden on the operator due to the teaching in the vertical direction regarding the transport device is reduced. In this case, it is not necessary to prepare the dedicated jig in order to perform the teaching operation regarding the transport device. Therefore, a burden on the operator due to the maintenance and management of the jig does not occur, and a cost resulting from the purchase of the jig, and the maintenance and management of the jig does not occur either. As a result, the teaching in the vertical direction regarding the transport device can be performed at a low cost while a burden on the operator is reduced. 
     (12) The holder may include a suction portion that sucks a lower surface of the substrate, and the holding detector may be configured to detect based on whether the substrate is sucked by the suction portion that the holder has held the lower surface of the substrate. 
     In this case, it can be detected with an easy configuration that the holder has held the lower surface of the substrate. Further, the holder can reliably hold the substrate. 
     (13) A substrate processing method according to yet another aspect of the present invention for performing processing on a substrate, including the steps of moving a first holder of a first transport device to a target position in a substrate supporter and receiving the substrate supported at a reference position in the substrate supporter, during a teaching operation regarding the first transport device, detecting a positional relationship between the substrate held by the first holder and the first holder, acquiring a deviation between the target position and the reference position as correction information based on the detected positional relationship, correcting the target position to coincide with the reference position based on the acquired correction information during the teaching operation or during substrate processing, and transferring the substrate to the substrate supporter or receiving the substrate from the substrate supporter by moving the first holder to the corrected target position, during the substrate processing. 
     This substrate processing method causes the first holder of the first transport device to be moved to the target position in the substrate supporter and the substrate supported at the reference position in the substrate supporter to be received by the first holder, during the teaching operation regarding the first transport device. The positional relationship between the substrate held by the first holder and the first holder is detected. The deviation between the target position and the reference position is acquired as the correction information based on the detected positional relationship. 
     During the teaching operation or during the substrate processing, the target position is corrected to coincide with the reference position based on the acquired correction information. During the substrate processing, the first holder is moved to the corrected target position, so that the substrate is transferred to the substrate supporter by the first holder or the substrate is received from the substrate supporter by the first holder. Thus, the substrate can be transferred to the substrate supporter by the first holder to be supported at the reference position, or the first holder can be moved to the substrate supporter to receive the substrate supported at the reference position. 
     This configuration causes the first holder of the first transport device to receive the substrate supported at the reference position by the substrate supporter, so that the teaching operation regarding the first transport device is performed. Thus, a burden on the operator due to the teaching regarding the first transport device is reduced. In this case, it is not necessary to prepare the dedicated jig in order to perform the teaching regarding the first transport device. Therefore, a burden on the operator due to the maintenance and management of the jig does not occur, and a cost resulting from the purchase of the jig, and the maintenance and management of the jig does not occur either. As a result, the teaching regarding the first transport device can be performed at a low cost while a burden on the operator is reduced. 
     (14) A substrate processing method according to yet another aspect of the present invention for performing processing on a substrate includes the steps of detecting a positional relationship between the substrate held by a first holder of a first transport device and the first holder during a teaching operation regarding the first transport device, moving the first holder to a target position in a substrate supporter and transferring the substrate to the substrate supporter, rotating the substrate supported by the substrate supporter in a horizontal attitude about a reference position by a predetermined angle, moving the first holder to the target position in the substrate supporter and receiving the substrate supported by the substrate supporter, detecting a positional relationship between the substrate received from the substrate supporter and held by the first holder, and the first holder, acquiring a deviation between the target position and the reference position as correction information based on a positional relationship between the first holder and the substrate before the substrate is transferred to the substrate supporter and the positional relationship between the first holder and the substrate after the substrate is received from the substrate supporter, correcting the target position to coincide with the reference position based on the acquired correction information during the teaching operation or during substrate processing, and transferring the substrate to the substrate supporter or receiving the substrate from the substrate supporter by moving the first holder to the corrected target position during the substrate processing. 
     This substrate processing method causes the positional relationship between the substrate held by the first holder of the first transport device and the first holder to be detected during the teaching operation regarding the first transport device. The first holder of the first transport device is moved to the target position in the substrate supporter, and the substrate is transferred to the substrate supporter. The substrate supported by the substrate supporter in a horizontal attitude is rotated about the reference position by a predetermined angle. The first holder is moved to the target position in the substrate supporter, and the substrate supported by the substrate supporter is received and held by the first holder. Thereafter, the positional relationship between the substrate held by the first holder and the first holder is detected. The deviation between the target position and the reference position is acquired as the correction information based on the positional relationship between the first holder and the substrate before the substrate is transferred to the substrate supporter and the positional relationship between the first holder and the substrate after the substrate is received from the substrate supporter. 
     During the teaching operation or during the substrate processing, the target position is corrected to coincide with the reference position based on the acquired correction information. During the substrate processing, the first holder is moved to the corrected target position, so that the substrate is transferred to the substrate supporter by the first holder, or the substrate is received from the substrate supporter by the first holder. Thus, the substrate can be transferred to the substrate supporter by the first holder to be supported at the reference position, or the first holder can be moved to the substrate supporter to receive the substrate supported at the reference position. 
     This configuration causes the first holder of the first transport device to transfer the substrate to the substrate supporter and receive the rotated substrate, so that the teaching operation regarding the first transport device is performed. Thus, a burden on the operator due to the teaching regarding the first transport device is reduced. In this case, it is not necessary to prepare the dedicated jig in order to perform the teaching regarding the first transport device. Therefore, a burden on the operator due to the maintenance and management of the jig does not occur, and a cost resulting from the purchase of the jig, and the maintenance and management of the jig does not occur either. As a result, the teaching regarding the first transport device can be performed at a low cost while a burden on the operator is reduced. 
     (15) A substrate processing method according to yet another aspect of the present invention for performing processing on a substrate includes the steps of lifting a holder of a transport device from below the substrate supported at a reference height by a substrate supporter during a teaching operation regarding the transport device, detecting that the holder has held a lower surface of the substrate, determining a target height in a vertical direction based on a position of the holder in the vertical direction at a detection time point, and transferring the substrate to the substrate supporter or receiving the substrate from the substrate supporter by moving the holder to the determined target height when the holder is moved to the substrate supporter during substrate processing. 
     This substrate processing method causes the holder of the transport device to be lifted from below the substrate supported at the reference height by the substrate supporter during the teaching operation regarding the transport device. It is detected that the holder has held the lower surface of the substrate. The target height in the vertical direction is determined based on the position of the holder in the vertical direction at the detection time point. When the holder is moved to the substrate supporter during the substrate processing, the holder is moved to the determined target height, so that the substrate is transferred to the substrate supporter or the substrate is received from the substrate supporter. Thus, the substrate can be transferred to the substrate supporter by the holder to be supported at the reference height, or the holder can be moved to the substrate supporter to receive the substrate supported at the reference height. 
     This configuration causes the holder of the transport device to receive the substrate supported by the substrate supporter, so that the teaching operation in the vertical direction regarding the transport device is performed. Thus, a burden on the operator due to the teaching in the vertical direction regarding the transport device is reduced. In this case, it is not necessary to prepare the dedicated jig in order to perform the teaching operation regarding the transport device. Therefore, a burden on the operator due to the maintenance and management of the jig does not occur, and a cost resulting from the purchase of the jig, and the maintenance and management of the jig does not occur either. As a result, the teaching in the vertical direction regarding the transport device can be performed at a low cost while a burden on the operator is reduced. 
     Other features, elements, characteristics, and advantages of the present invention will become more apparent from the following description of preferred embodiments of the present invention with reference to the attached drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWING 
         FIG. 1  is a schematic plan view of a substrate processing apparatus according to one embodiment of the present invention; 
         FIG. 2  is a schematic side view of the substrate processing apparatus mainly showing a coating processing section, a development processing section and a cleaning drying processing section of  FIG. 1 ; 
         FIG. 3  is a schematic side view of the substrate processing apparatus mainly showing thermal processing sections and the cleaning drying processing section of  FIG. 1 ; 
         FIG. 4  is a side view mainly showing transport sections of  FIG. 1 ; 
         FIG. 5  is a perspective view showing a transport mechanism; 
         FIGS. 6A to 6C  are a plan view, a side view and an end view showing the transport mechanism; 
         FIG. 7  is a block diagram showing a configuration of a control system of the transport mechanism; 
         FIGS. 8A to 8D  are diagrams for explaining a teaching operation in a vertical direction; 
         FIGS. 9A to 9C  are diagrams for explaining a teaching operation in a horizontal direction; 
         FIG. 10A to 10H  are diagrams for explaining a method of detection of a plurality of portions at an outer periphery of the substrate by a sensor device of  FIGS. 5 to 6C ; 
         FIGS. 11A to 11C  are diagrams for explaining a reference position when a substrate supporter is provided in a carrier; 
         FIG. 12  is a diagram for explaining the reference position when the substrate supporter is provided in a substrate platform; 
         FIG. 13  is a perspective view of a thermal processing unit; 
         FIG. 14  is a plan view of the thermal processing unit of  FIG. 13 ; 
         FIG. 15  is a side view of the thermal processing unit of  FIG. 13 ; 
         FIGS. 16A to 16E  are diagrams for explaining the reference position when the substrate supporter is provided in the thermal processing unit; 
         FIGS. 17A and 17B  are diagrams showing a configuration of a cleaning drying processing unit; 
         FIGS. 18A to 18D  are schematic diagrams for explaining an operation of the cleaning drying processing unit; 
         FIGS. 19A to 19D  are diagrams for explaining the reference position when the substrate supporter is provided in the cleaning drying processing unit; 
         FIGS. 20A to 20D  are diagrams for explaining the teaching operation in the horizontal direction when the substrate supporter is a spin chuck; 
         FIGS. 21A to 21E  are diagrams showing one control example of the transport mechanism for detecting outer peripheries of two substrates held by two hands by one sensor device; 
         FIGS. 22A to 22C  are diagrams showing one control example of the transport mechanism for detecting the outer peripheries of the two substrates held by the two hands by the one sensor device; 
         FIGS. 23A to 23C  are diagrams for explaining a teaching operation of another hand in another embodiment; and 
         FIG. 24  is a diagram for explaining the reference position when receiving and transferring of the substrate are directly performed between the transport mechanisms. 
     
    
    
     DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     A substrate processing apparatus and a substrate processing method according to one embodiment of the present invention will be described below with reference to the drawings. In the following description, a substrate refers to a semiconductor substrate, a substrate for a liquid crystal display device, a substrate for a plasma display, a substrate for an optical disk, a substrate for a magnetic disk, a substrate for a magneto-optical disk, a substrate for a photomask or the like. 
     (1) Configuration of Substrate Processing Apparatus 
       FIG. 1  is a schematic plan view of the substrate processing apparatus according to the one embodiment of the present invention. 
       FIG. 1  and subsequently given diagrams are accompanied by arrows that indicate X, Y, and Z directions orthogonal to one another for clarity of a positional relationship. The X and Y directions are orthogonal to each other within a horizontal plane, and the Z direction corresponds to a vertical direction. 
     As shown in  FIG. 1 , the substrate processing apparatus  100  includes an indexer block  11 , a first processing block  12 , a second processing block  13 , a cleaning drying processing block  14 A and a carry-in carry-out block  14 B. An interface block  14  is constituted by the cleaning drying processing block  14 A and the carry-in carry-out block  14 B. An exposure device  15  is arranged to be adjacent to the carry-in carry-out block  14 B. In the exposure device  15 , exposure processing is performed on the substrate W using a liquid immersion method. 
     As shown in  FIG. 1 , the indexer block  11  includes a plurality of carrier platforms  111  and a transport section  112 . In each carrier platform  111 , a carrier  113  for storing the plurality of substrates W in multiple stages is placed. 
     A controller  114  and a transport mechanism  115  are provided in the transport section  112 . The controller  114  controls various constituent elements of the substrate processing apparatus  100 . The transport mechanism  115  has a hand  116  for holding the substrate W. The transport mechanism  115  holds the substrate W by the hand  116  and transports the substrate W. 
     A main panel PN is provided on a side surface of the transport section  112 . The main panel PN is connected to the controller  114 . A user can confirm the processing status of the substrate Win the substrate processing apparatus  100  and other information on the main panel PN. An operation unit (not shown) composed of a keyboard, for example, is provided near the main panel PN. The user can set operation settings of the substrate processing apparatus  100  and the like by operating the operation unit. 
     The first processing block  12  includes a coating processing section  121 , a transport section  122  and a thermal processing section  123 . The coating processing section  121  and the thermal processing section  123  are provided to be opposite to each other with the transport section  122  sandwiched therebetween. Substrate platform PASS 1 , and substrate platforms PASS 2  to PASS 4  (see  FIG. 4 ), described below, on which the substrates W are placed are provided between the transport section  122  and the indexer block  11 . A transport mechanism  127  and a transport mechanism  128  (see  FIG. 4 ) that is described below, which transport the substrates W, are provided in the transport section  122 . 
     The second processing block  13  includes a development processing section  131 , a transport section  132  and a thermal processing section  133 . The development processing section  131  and the thermal processing section  133  are provided to be opposite to each other with the transport section  132  sandwiched therebetween. Substrate platform PASS 5 , and substrate platforms PASS 6  to PASS 8  (see  FIG. 4 ), described below, on which the substrates W are placed are provided between the transport section  132  and the transport section  122 . A transport mechanism  137  and a transport mechanism  138  (see  FIG. 4 ) that is described below, which transport the substrates W, are provided in the transport section  132 . 
     The cleaning drying processing block  14 A includes cleaning drying processing sections  161 ,  162  and a transport section  163 . The cleaning drying processing sections  161 ,  162  are provided to be opposite to each other with the transport section  163  sandwiched therebetween. Transport mechanisms  141 ,  142  are provided in the transport section  163 . 
     A placement buffer unit P-BF 1  and a placement buffer unit P-BF 2  (see  FIG. 4 ) that is described below are provided between the transport section  163  and the transport section  132 . The placement buffer units P-BF 1 , P-BF 2  are configured to be capable of storing the plurality of substrates W. 
     Further, a substrate platform PASS 9  and placement cooling platforms P-CP (see  FIG. 4 ) that are described below are provided to be adjacent to the carry-in carry-out block  14 B between the transport mechanisms  141 ,  142 . In the placement cooling platform P-CP, the substrate W is cooled to a temperature suitable for the exposure processing. 
     A transport mechanism  146  is provided in the carry-in carry-out block  14 B. The transport mechanism  146  carries in the substrate W to and carries out the substrate W from the exposure device  15 . A substrate inlet  15   a  for carrying in the substrate W and a substrate outlet  15   b  for carrying out the substrate W are provided at the exposure device  15 . 
     (2) Configuration of Coating Processing Section and Development Processing Section 
       FIG. 2  is a schematic side view of the substrate processing apparatus  100  mainly showing the coating processing section  121 , the development processing section  131  and the cleaning drying processing section  161  of  FIG. 1 . 
     As shown in  FIG. 2 , in the coating processing section  121 , coating processing chambers  21 ,  22 ,  23 ,  24  are provided in a stack. In the development processing section  131 , development processing chambers  31 ,  32 ,  33 ,  34  are provided in a stack. In each of the coating processing chambers  21  to  24 , a coating processing unit  129  is provided. In each of the development processing chambers  31  to  34 , a development processing unit  139  is provided. 
     Each coating processing unit  129  includes spin chucks  25  that hold the substrates W and cups  27  provided to cover the surroundings of the spin chucks  25 . In the present embodiment, two pairs of the spin chucks  25  and the cups  27  are provided in each coating processing unit  129 . Each spin chuck  25  is driven to be rotated by a driving device that is not shown (an electric motor, for example). Further, as shown in  FIG. 1 , each coating processing unit  129  includes a plurality of processing liquid nozzles  28  that discharge a processing liquid and a nozzle transport mechanism  29  that moves these processing liquid nozzles  28 . 
     In the coating processing unit  129 , the spin chuck  25  is rotated by the driving device (not shown), any one of the plurality of processing liquid nozzles  28  is moved to a position above the substrate W by the nozzle transport mechanism  29 , and the processing liquid is discharged from the processing liquid nozzle  28 . Thus, the processing liquid is applied to an upper surface of the substrate W. Further, a rinse liquid is discharged at a peripheral portion of the substrate W from an edge rinse nozzle (not shown). Thus, the processing liquid adhering to the peripheral portion of the substrate W is removed. 
     In the coating processing unit  129  in each of the coating processing chambers  22 ,  24 , a processing liquid for an anti-reflection film is supplied to the substrate W from the processing liquid nozzle  28 . In the coating processing unit  129  in each of the coating processing chambers  21 ,  23 , a processing liquid for a resist film is supplied to the substrate W from the processing liquid nozzle  28 . 
     Each development processing unit  139  includes spin chucks  35  and cups  37  similarly to the coating processing unit  129 . Further, as shown in  FIG. 1 , the development processing unit  139  includes two development nozzles  38  that discharge a development liquid and a moving mechanism  39  that moves the development nozzles  38  in the X direction. 
     In the development processing unit  139 , the spin chuck  35  is rotated by the driving device (not shown) and the one development nozzle  38  supplies the development liquid to each substrate W while moving in the X direction. Thereafter, the other development nozzle  38  supplies the development liquid to each substrate W while moving. In this case, the development liquid is supplied to the substrate W, so that development processing for the substrate W is performed. Further, in the present embodiment, development liquids that are different from each other are discharged from the two development nozzles  38 . Thus, two types of the development liquids can be supplied to each substrate W. 
     A plurality (four in the present example) of cleaning drying processing units SD 1  are provided in the cleaning drying processing section  161 . In each cleaning drying processing unit SD 1 , cleaning and drying processing for the substrate W before the exposure processing are performed. 
     As shown in  FIGS. 1 and 2 , a fluid box  50  is provided in the coating processing section  121  to be adjacent to the development processing section  131 . Similarly, a fluid box  60  is provided in the development processing section  131  to be adjacent to the cleaning drying processing block  14 A. The fluid box  50  and the fluid box  60  each house fluid related elements such as pipes, joints, valves, flowmeters, regulators, pumps and temperature adjusters used to supply a chemical liquid to the coating processing units  129  and the development processing units  139 , discharge the liquid and air out of the coating processing units  129  and the development processing units  139 , and the like. 
     (3) Configuration of Thermal Processing Sections 
       FIG. 3  is a schematic side view of the substrate processing apparatus  100  mainly showing the thermal processing sections  123 ,  133  and the cleaning drying processing section  162  of  FIG. 1 . As shown in  FIG. 3 , the thermal processing section  123  has an upper thermal processing section  301  provided above, and a lower thermal processing section  302  provided below. In each of the upper thermal processing section  301  and the lower thermal processing section  302 , a plurality of thermal processing units PHP, a plurality of adhesion reinforcement processing units PAHP and a plurality of cooling units CP are provided. 
     In each thermal processing unit PHP, heating processing for the substrate W is performed. In the adhesion reinforcement processing unit PAHP, adhesion reinforcement processing for improving adhesion between the substrate W and the anti-reflection film is performed. Specifically, in the adhesion reinforcement processing unit PAHP, an adhesion reinforcement agent such as HMDS (hexamethyldisilazane) is applied to the substrate W, and the heating processing is performed on the substrate W. In each cooling unit CP, the cooling processing for the substrate W is performed. 
     The thermal processing section  133  has an upper thermal processing section  303  provided above and a lower thermal processing section  304  provided below. In each of the upper thermal processing section  303  and the lower thermal processing section  304 , a cooling unit CP, a plurality of thermal processing units PHP and an edge exposure unit EEW are provided. 
     Each edge exposure unit EEW includes a spin chuck  98  that holds the substrate W by suction in a horizontal attitude while rotating the same, and a light emitting device  99  that exposes the outer peripheral edge of the substrate W held on the spin chuck  98 . In the edge exposure unit EEW, exposure processing (edge exposure processing) is performed on a region with a constant width at the peripheral edge of the resist film formed on the substrate W. In the upper thermal processing section  303  and the lower thermal processing section  304 , each thermal processing unit PHP provided to be adjacent to the cleaning drying processing block  14 A is configured to be capable of carrying in the substrate W from the cleaning drying processing block  14 A. 
     A plurality (five in the present example) of cleaning drying processing units SD 2  are provided in the cleaning drying processing section  162 . In each cleaning drying processing unit SD 2 , the cleaning and drying processing for the substrate W after the exposure processing is performed. 
     (4) Configuration of Transport Sections 
       FIG. 4  is a side view mainly showing the transport sections  122 ,  132 ,  163  of  FIG. 1 . As shown in  FIG. 4 , the transport section  122  has an upper transport chamber  125  and a lower transport chamber  126 . The transport section  132  has an upper transport chamber  135  and a lower transport chamber  136 . The transport mechanism  127  is provided in the upper transport chamber  125 , and the transport mechanism  128  is provided in the lower transport chamber  126 . Further, the transport mechanism  137  is provided in the upper transport chamber  135 , and the transport mechanism  138  is provided in the lower transport chamber  136 . 
     As shown in  FIG. 4 , the substrate platforms PASS 1 , PASS 2  are provided between the transport section  112  and the upper transport chamber  125 , and the substrate platforms PASS 3 , PASS 4  are provided between the transport section  112  and the lower transport chamber  126 . The substrate platforms PASS 5 , PASS 6  are provided between the upper transport chamber  125  and the upper transport chamber  135 , and the substrate platforms PASS 7 , PASS 8  are provided between the lower transport chamber  126  and the lower transport chamber  136 . 
     The placement buffer unit P-BF 1  is provided between the upper transport chamber  135  and the transport section  163 , and the placement buffer unit P-BF 2  is provided between the lower transport chamber  136  and the transport section  163 . The substrate platform PASS 9  and the plurality of placement cooling platforms P-CP are provided to be adjacent to the carry-in carry-out block  14 B in the transport section  163 . 
     The transport mechanism  127  is configured to be capable of transporting the substrate W among the substrate platforms PASS 1 , PASS 2 , PASS 5 , PASS 6 , the coating processing chambers  21 ,  22  ( FIG. 2 ) and the upper thermal processing section  301  ( FIG. 3 ). The transport mechanism  128  is configured to be capable of transporting the substrate W among the substrate platforms PASS 3 , PASS 4 , PASS 7 , PASS 8 , the coating processing chambers  23 ,  24  ( FIG. 2 ) and the lower thermal processing section  302  ( FIG. 3 ). 
     The transport mechanism  137  is configured to be capable of transporting the substrate W among the substrate platforms PASS 5 , PASS 6 , the placement buffer unit P-BF 1 , the development processing chambers  31 ,  32  ( FIG. 2 ) and the upper thermal processing section  303  ( FIG. 3 ). The transport mechanism  138  is configured to be capable of transporting the substrate W among the substrate platforms PASS 7 , PASS 8 , the placement buffer unit P-BF 2 , the development processing chambers  33 ,  34  ( FIG. 2 ) and the lower thermal processing section  304  ( FIG. 3 ). 
     A plurality of controllers  500  that respectively control the respective transport mechanisms  127 ,  128 ,  137 ,  138 ,  141 ,  142 ,  146  are provided in the transport sections  112 ,  122 ,  132 ,  163 . Part of or all of the plurality of controllers  500  may be realized by the controller  114  of  FIG. 1 . 
     (5) Operation of Substrate Processing Apparatus 
     The operation of the substrate processing apparatus  100  will be described with reference to  FIGS. 1 to 4 . The carrier  113  in which the unprocessed substrates W are stored is placed on the carrier platform  111  ( FIG. 1 ) in the indexer block  11 . The transport mechanism  115  transports the unprocessed substrate W from the carrier  113  to the substrate platform PASS 1 , PASS 3  ( FIG. 4 ). Further, the transport mechanism  115  transports the processed substrate W that is placed on the substrate platform PASS 2 , PASS 4  ( FIG. 4 ) to the carrier  113 . 
     In the first processing block  12 , the transport mechanism  127  ( FIG. 4 ) sequentially transports the substrate W placed on the substrate platform PASS 1  to the adhesion reinforcement processing unit PAHP ( FIG. 3 ), the cooling unit CP ( FIG. 3 ) and the coating processing chamber  22  ( FIG. 2 ). Next, the transport mechanism  127  sequentially transports the substrate W on which the anti-reflection film is formed by the coating processing chamber  22  to the coating processing chamber  22  ( FIG. 2 ), the thermal processing unit PHP ( FIG. 3 ), the cooling unit CP ( FIG. 3 ) and the coating processing chamber  21  ( FIG. 2 ). Then, the transport mechanism  127  sequentially transports the substrate W on which the resist film is formed by the coating processing chamber  21  to the thermal processing unit PHP ( FIG. 3 ) and the substrate platform PASS 5  ( FIG. 4 ). 
     In this case, after the adhesion reinforcement processing is performed on the substrate W in the adhesion reinforcement processing unit PAHP, the substrate W is cooled to a temperature suitable for formation of the anti-reflection film in the cooling unit CP. Next, the anti-reflection film is formed on the substrate W by the coating processing unit  129  ( FIG. 2 ) in the coating processing chamber  22 . Subsequently, after the thermal processing for the substrate W is performed in the thermal processing unit PHP, the substrate W is cooled to a temperature suitable for the formation of the resist film in the cooling unit CP. Next, in the coating processing chamber  21 , the resist film is formed on the substrate W by the coating processing unit  129  ( FIG. 2 ). Thereafter, the thermal processing for the substrate W is performed in the thermal processing unit PHP, and the substrate W is placed on the substrate platform PASS 5 . 
     Further, the transport mechanism  127  transports the substrate W after the development processing that is placed on the substrate platform PASS 6  ( FIG. 4 ) to the substrate platform PASS 2  ( FIG. 4 ). 
     The transport mechanism  128  ( FIG. 4 ) sequentially transports the substrate W placed on the substrate platform PASS 3  to the adhesion reinforcement processing unit PAHP ( FIG. 3 ), the cooling unit CP ( FIG. 3 ) and the coating processing chamber  24 . Then, the transport mechanism  128  sequentially transports the substrate W on which the anti-reflection film is formed by the coating processing chamber  24  to the thermal processing unit PHP ( FIG. 3 ), the cooling unit CP ( FIG. 3 ) and the coating processing chamber  23 . Subsequently, the transport mechanism  128  sequentially transports the substrate W on which the resist film is formed by the coating processing chamber  23  to the thermal processing unit PHP ( FIG. 3 ) and the substrate platform PASS 7  ( FIG. 4 ). 
     Further, the substrate mechanism  128  ( FIG. 4 ) transports the substrate W after the development processing that is placed on the substrate platform PASS 8  ( FIG. 4 ) to the substrate platform PASS 4  ( FIG. 4 ). The processing contents for the substrate W in the coating processing chambers  23 ,  24  ( FIG. 2 ) and the lower thermal processing section  302  ( FIG. 3 ) are similar to the processing contents for the substrate W in the above-mentioned coating processing chambers  21 ,  22  ( FIG. 2 ) and upper thermal processing section  301  ( FIG. 3 ). 
     In the second processing block  13 , the transport mechanism  137  ( FIG. 4 ) sequentially transports the substrate W after the resist film formation that is placed on the substrate platform PASS 5  to the edge exposure unit EEW ( FIG. 3 ) and the placement buffer unit P-BF 1  ( FIG. 4 ). In this case, in the edge exposure unit EWW, the edge exposure processing is performed on the substrate W. The substrate W after the edge exposure processing is placed on the placement buffer unit P-BF 1 . 
     Further, the transport mechanism  137  ( FIG. 4 ) takes out the substrate W after the exposure processing and the thermal processing from the thermal processing unit PHP ( FIG. 3 ) that is adjacent to the cleaning drying processing block  14 A. The transport mechanism  137  sequentially transports the substrate W to the cooling unit CP ( FIG. 3 ), any one of the development processing chambers  31 ,  32  ( FIG. 2 ), the thermal processing unit PHP ( FIG. 3 ) and the substrate platform PASS 6  ( FIG. 4 ). 
     In this case, after the substrate W is cooled to a temperature suitable for the development processing in the cooling unit CP, the development processing for the substrate W is performed by the development processing unit  139  in any one of the development processing chambers  31 ,  32 . Thereafter, the thermal processing for the substrate W is performed in the thermal processing unit PHP, and the substrate W is placed on the substrate platform PASS 6 . 
     The transport mechanism  138  ( FIG. 4 ) sequentially transports the substrate W after the resist film formation that is placed on the substrate platform PASS 7  to the edge exposure unit EEW ( FIG. 3 ) and the placement buffer unit P-BF 2  ( FIG. 4 ). 
     Further, the transport mechanism  138  ( FIG. 4 ) takes out the substrate W after the exposure processing and the thermal processing from the thermal processing unit PHP ( FIG. 3 ) that is adjacent to the interface block  14 . The transport mechanism  138  sequentially transports the substrate W to the cooling unit CP ( FIG. 3 ), any one of the development processing chambers  33 ,  34  ( FIG. 2 ), the thermal processing unit PHP ( FIG. 3 ) and the substrate platform PASS 8  ( FIG. 4 ). The processing contents for the substrate W in the development processing chambers  33 ,  34  and the lower thermal processing section  304  are similar to the processing contents for the substrate W in the above-mentioned development processing chambers  31 ,  32  and upper thermal processing section  303 . 
     In the cleaning drying processing block  14 A, the transport mechanism  141  ( FIG. 1 ) transports the substrate W that is placed on the placement buffer unit P-BF 1 , P-BF 2  ( FIG. 4 ) to the cleaning drying processing unit SD 1  ( FIG. 2 ) in the cleaning drying processing section  161 . Then, the transport mechanism  141  transports the substrate W from the cleaning drying processing unit SD 1  to the placement cooling platform P-CP ( FIG. 4 ). In this case, the substrate W is cooled in the placement cooling platform P-CP to a temperature suitable for the exposure processing in the exposure device  15  ( FIG. 1 ) after the cleaning and drying processing for the substrate W are performed in the cleaning drying processing unit SD 1 . 
     The transport mechanism  142  ( FIG. 1 ) transports the substrate W after the exposure processing that is placed on the substrate platform PASS 9  ( FIG. 4 ) to the cleaning drying processing unit SD 2  ( FIG. 3 ) in the cleaning drying processing section  162 . Further, the transport mechanism  142  transports the substrate W after the cleaning and drying processing to the thermal processing unit PHP ( FIG. 3 ) in the upper thermal processing section  303  or the thermal processing unit PHP ( FIG. 3 ) in the lower thermal processing section  304  from the cleaning drying processing unit SD 2 . In this thermal processing unit PHP, post-exposure bake (PEB) processing is performed. 
     In the interface block  14 , the transport mechanism  146  ( FIG. 1 ) transports the substrate W before the exposure processing that is placed on the placement cooling platform P-CP ( FIG. 4 ) to the substrate inlet  15   a  ( FIG. 1 ) of the exposure device  15 . Further, the transport mechanism  146  ( FIG. 1 ) takes out the substrate W after the exposure processing from the substrate outlet  15   b  ( FIG. 1 ) of the exposure device  15 , and transports the substrate W to the substrate platform PASS 9  ( FIG. 4 ). 
     When the exposure device  15  cannot receive the substrate W, the substrate W before the exposure processing is temporarily stored in the placement buffer unit P-BF 1 , P-BF 2 . Further, when the development processing unit  139  ( FIG. 2 ) in the second processing block  13  cannot receive the substrate W after the exposure processing, the substrate W after the exposure processing is temporarily stored in the placement buffer unit P-BF 1 , P-BF 2 . 
     In the present embodiment, processing for the substrate W in the coating processing chambers  21 ,  22 , the development processing chambers  31 ,  32  and the upper thermal processing sections  301 ,  303  that are provided above, and the processing for the substrate W in the coating processing chambers  23 ,  24 , the development processing chambers  33 ,  34  and the lower thermal processing sections  302 ,  304  that are provided below can be concurrently performed. Thus, it is possible to improve throughput without increasing a footprint. 
     (6) Configuration of Transport Mechanisms 
     Next, the transport mechanism  127  will be described.  FIG. 5  is a perspective view showing the transport mechanism  127 . The transport mechanism  115 ,  128 ,  137 ,  138 ,  141 ,  142 ,  146  has the configuration similar to the transport mechanism  127 . As shown in  FIGS. 4 and 5 , the transport mechanism  127  includes elongated guide rails  311 ,  312 . As shown in  FIG. 4 , the guide rail  311  is fixed to the side of the transport section  112  to extend in the vertical direction in the upper transport chamber  125 . The guide rail  312  is fixed to the side of the upper transport chamber  135  to extend in the vertical direction in the upper transport chamber  125 . 
     As shown in  FIGS. 4 and 5 , an elongated guide rail  313  is provided between the guide rail  311  and the guide rail  312 . The guide rail  313  is attached to the guide rails  311 ,  312  to be movable in the vertical direction. A moving member  314  is attached to the guide rail  313 . The moving member  314  is provided to be movable in a longitudinal direction of the guide rail  313 . 
     An elongated rotating member  315  is rotatably provided on an upper surface of the moving member  314 . A hand H 1  and a hand H 2  for holding the substrates W are attached to the rotating member  315 . In the present example, the hand H 1  is positioned above the hand H 2 . The hands H 1 , H 2  are provided to be movable in a longitudinal direction of the rotating member  315 . 
     The above-mentioned configuration enables the transport mechanism  127  to freely move in the X and Z directions in the upper transport chamber  125 . Further, the transport mechanism  127  can receive the substrate W from and transfer the substrate W to the coating processing chamber  21 ,  22  ( FIG. 2 ), the substrate platform PASS 1 , PASS 2 , PASS 5 , PASS 6  ( FIG. 4 ) or the upper thermal processing section  301  ( FIG. 3 ) using the hand H 1 , H 2 . 
     Further, a sensor device  316  is attached to the rotating member  315 . The sensor device  316  includes a light emitter holding casing  316   a  and a light receiver holding casing  316   b . The light emitter holding casing  316   a  is arranged on an upper surface of the rotating member  315 , and the light receiver holding casing  316   b  is arranged above the light emitter holding casing  316   a.    
       FIGS. 6A, 6B, 6C  are a plan view, a side view and an end view showing the transport mechanism  127 , respectively. As shown in  FIG. 6A , the hand H 1  is constituted by a guide portion Ha and an arm portion Hb. The guide portion Ha is substantially C-shaped, and the arm portion Hb is oblong. At an inner periphery of the guide portion Ha, a plurality (three in the present example) of projections pr are formed to be directed inward of the guide portion Ha at equal angular intervals about a center of a circle formed along the inner periphery of the guide portion Ha. A suction portion sm is provided at a tip end of each projection pr. Each suction portion sm is connected to an intake system (not shown). 
     In the hand H 1 , the substrate W is placed on the three suction portions sm of the three projections pr. In  FIGS. 6A to 6C , the substrate W held by the hand H 1  is indicated by two-dot and dash lines. In this state, the intake system connected to the three suction portions sm is controlled, and three portions of the substrate W positioned on the three suction portions sm are sucked by the three suction portions sm, respectively. The hand H 1  may have the four suction portions sm. In this case, four portions of the substrate W positioned on the four suction portions sm are sucked by the four suction portions sm, respectively. 
     A suction signal indicating whether the plurality of suction portions sm are sucking the substrate W is supplied to the controller  500  of  FIG. 4  from the hand H 1 . When the plurality of suction portions sm are sucking the substrate W, the suction signal enters an ON state, and when any one of the suction portions sm is not sucking the substrate W, the suction signal enters an OFF state. 
     The hand H 2  has the configuration similar to the hand H 1 . In each hand H 1 , H 2 , a position at which the center of the held substrate W is to be positioned normally (hereinafter referred to as a normal position) is determined in advance. The normal position in the hand H 1  is a central position of the circle formed along the inner periphery of the guide portion Ha, for example. The normal position in the hand H 1  may be a central position of the plurality of suction portions sm. 
     Hereinafter, a limit position to which the hand H 1 , H 2  can retreat in an advancing retreating direction of the hand H 1 , H 2  is referred to as an advancing retreating reference position. In the examples of  FIGS. 6A to 6C , the hands H 1 , H 2  are respectively located at the advancing retreating reference positions. 
     The light emitter holding casing  316   a  is provided at substantially the center portion on the upper surface of the rotating member  315 . In the light emitter holding casing  316   a , a plurality (four in the present example) of light emitters  316   t  are held. The light receiver holding casing  316   b  is provided at a position above the rotating member  315  to be opposite to the light emitter holding casing  316   a . In the light receiver holding casing  316   b , a plurality (four in the present example) of light receivers  316   r  are held to be respectively opposite to the plurality of light emitters  316   t  held by the light emitter holding casing  316   a . A detector  316 D is constituted by the light emitter  316   t  and the light receiver  316   r  that are opposite to each other. As shown in  FIG. 6C , in the present example, the sensor device  316  includes the four detectors  316 D. 
     The four detectors  316 D are arranged in an inner region of the guide portion Ha of the hand H 1  located at the advancing retreating reference position in a horizontal plane. In the present example, the four detectors  316 D are arranged at constant intervals on a circular arc ar concentric with the inner periphery of the guide portion Ha. 
     Light is emitted upward from the respective four light emitters  316   t . The four light receivers  316   r  output light reception signals by respectively receiving the light emitted from the opposite four light emitters  316   t  as returning light. The light reception signal output from each light receiver  316   r  is supplied to the controller  500 . 
     The four light emitters  316   t  are preferably arranged at positions further forward in the advancing retreating direction of the hand H 1  than at least one suction portion sm of the plurality of suction portions sm of the hand H 1  located at the advancing retreating reference position. In this case, the four portions at the outer periphery of the substrate W held by the hand H 1  are respectively reliably detected by the four light emitters  316   t  during the transportation of the substrate W by the transport mechanism  127 . 
       FIG. 7  is a block diagram showing a configuration of a control system of the transport mechanism  127 . The configuration of the control system of the other transport mechanism  115 ,  128 ,  137 ,  138 ,  141 ,  142 ,  146  is similar to the configuration of the control system of the transport mechanism  127  of  FIG. 7 . 
     As shown in  FIG. 7 , the controller  500  includes a CPU (Central Processing Unit)  510  and a memory  520 . In the memory  520 , tentative target position coordinates, described below, are stored, and correction information, described below, is stored. The CPU  510  performs various calculation based on the light reception signals supplied from the sensor device  316  of the transport mechanism  127 , and stores the results in the memory  520 . Further, the operation of the transport mechanism  127  is controlled based on the information stored in the memory  520 . 
     (7) Teaching Operation Regarding Transport Mechanism 
     The teaching operation regarding the transport mechanism when the hand H 1 , H 2  of the transport mechanism  115 ,  127 ,  128 ,  137 ,  138 ,  141 ,  142 ,  146  is moved to a substrate supporter will be described. The substrate supporter is provided in each of the carrier  113 , the substrate platforms PASS 1  to PASS 9  and the placement buffer units P-BF 1 , P-BF 2 , for example. Further, the substrate supporter is provided in each of the cooling units CP, the thermal processing units PHP, the adhesion reinforcement processing units PAHP, the placement cooling platforms P-CP and the cleaning drying processing units SD 1 , SD 2 , for example. Further, the substrate supporter is provided in each of the coating processing units  129 , the development processing units  139  and the edge exposure units EEW, for example. 
     As the teaching operation, there are a teaching operation in the vertical direction and a teaching operation in the horizontal direction. In the following description, the teaching operation of the transport mechanism  127  will be explained. The teaching operation of the other transport mechanism  115 ,  128 ,  137 ,  138 ,  141 ,  142 ,  146  is similar to the teaching operation of the transport mechanism  127 . 
     The height of the substrate W supported by the substrate supporter is referred to as a reference height. The height of the hand H 1  when the hand H 1  of the transport mechanism  127  transfers the substrate W to the substrate supporter or the height of the hand H 1  when the hand H 1  is moved to a position below the substrate supporter WS in order to receive the substrate W from the substrate supporter is referred to as a target height. The target height is determined by the teaching operation in the vertical direction. 
     Further, the position at which the substrate W is to be supported by the substrate supporter is referred to as a reference position. The position of the substrate W transferred to the substrate supporter by the hand H 1  of the transport mechanism  127  before the teaching operation in the horizontal direction is referred to as a tentative target position. The correction information indicating a deviation between the reference position and the tentative target position is acquired by the teaching operation in the horizontal direction. The tentative target position is corrected to coincide with the target position based on the correction information. The corrected tentative target position is referred to as a true target position. 
     Except for a case in which the substrate supporter is the spin chuck  25  of the coating processing unit  129 , the spin chuck  35  of the development processing unit  139  or the spin chuck  98  of the edge exposure unit EEW, the substrate W is automatically guided by a guide mechanism of the substrate supporter such that its center coincides with the reference position. On the other hand, when the substrate supporter is the spin chuck  25 ,  35 ,  98 , the invention is not limited to that the center of the substrate W coincides with the reference position. 
     In the following description, positions in the X, Y, Z directions are indicated by X, Y, Z coordinates, respectively. 
       FIGS. 8A to 8D  are diagrams for explaining the teaching operation in the vertical direction.  FIGS. 8A to 8D  show longitudinal cross sectional views of the substrate supporter WS and a substantially center portion of the hand H 1  of the transport mechanism  127 . In the example of  FIGS. 8A to 8D , the target height in a case in which the hand H 1  of the transport mechanism  127  is moved to a position below the substrate supporter WS is determined. 
     First, as shown in  FIG. 8A , the substrate W is supported at the reference height by the substrate supporter WS. Next, as shown in  FIG. 8B , the controller  500  moves the hand H 1  from the advancing retreating reference position to a position below the substrate supporter WS in the horizontal direction. At this time point, the substrate W is not sucked by the plurality of suction portions sm of the hand H 1 . Therefore, the suction signal is in the OFF state. The transport mechanism  127  has an encoder. The controller  500  detects the position of the hand H 1  based on the output signal of the encoder of the transport mechanism  127  at all times. 
     Subsequently, the controller  500  moves the hand H 1  upward. In this case, as shown in  FIG. 8C , the plurality of suction portions sm suck the substrate W at a time point at which the hand H 1  is moved upward by a predetermined distance. Thus, the suction signal enters the ON state. The controller  500  determines the Z coordinate of the hand H 1  at a time point at which the suction signal enters the ON state or a coordinate, which a predetermined offset amount in the vertical direction is added to the Z coordinate, as the Z coordinate of the target height. The Z coordinate of the target height is stored in the memory  520  of the controller  500 . Thereafter, as shown in  FIG. 8D , the controller  500  moves the hand H 1  to the advancing retreating reference position in the horizontal direction after moving the hand H 1  to a position above the substrate supporter WS. 
       FIGS. 9A to 9C  are diagrams for explaining the teaching operation in the horizontal direction.  FIGS. 9A to 9C  show plan views of the substrate supporter WS and the hand H 1  of the transport mechanism  127 . In the example of  FIGS. 9A to 9C , the correction information regarding the substrate supporter WS is acquired using the hand H 1  of the transport mechanism  127 . 
     First, as shown in  FIG. 9A , the substrate W is supported on the substrate supporter WS. The substrate W is supported with its center accurately coinciding with the reference position. On the other hand, the controller  500  does not identify the reference position in the substrate supporter WS before the teaching operation in the horizontal direction. Therefore, the invention is not limited to that the tentative target position coincides with the reference position. 
     Hereinafter, the coordinates of the reference position are referred to as reference position coordinates, and the coordinates of the tentative target position are referred to as tentative target position coordinates. Further, the coordinates of the normal position on the hand H 1  are referred to as normal position coordinates. The reference position coordinates are (Xw, Yw), the tentative target position coordinates are (Xb, Yb), and the normal position coordinates are (Xr, Yr). The tentative target position coordinates are stored in the memory  520  of the controller  500 . In the example of  FIG. 9A , the reference position coordinates (Xw, Yw) do not coincide with the tentative target position coordinates (Xb, Yb). 
     In the state of  FIG. 9A , the controller  500  lifts the substrate W to a position above the substrate supporter WS by lifting a plurality of lift pins (not shown) from below towards above the substrate supporter WS. Next, the hand H 1  is moved in the horizontal direction from the advancing retreating reference position such that the normal position of the hand H 1  coincides with the tentative target position. At this time point, the hand H 1  is positioned above the substrate supporter WS and below the substrate W. 
     Subsequently, the controller  500  lowers the substrate W by lowering the plurality of lift pins (not shown). Thus, as shown in  FIG. 9B , the substrate W is sucked by the plurality of suction portions sm of the hand H 1 . In this case, the substrate W is held by the hand H 1  with its center deviating from the normal position. 
     Thereafter, as shown in  FIG. 9C , the controller  500  moves the hand H 1  to the advancing retreating reference position in the horizontal direction. The hand H 1  retreats from a position further forward than the sensor device  316  to the advancing retreating reference position on the rotating member  315  of  FIGS. 5 to 6C , so that the plurality of portions at the outer periphery of the substrate W held by the hand H 1  are respectively detected. Details regarding a method of detection of the outer periphery of the substrate W held by the hand H 1  will be described below. 
     The controller  500  detects the position of the center of the substrate W in the hand H 1  (hereinafter referred to as a detection position) based on a result of detection of the plurality of portions at the outer periphery of the substrate W. Hereinafter, the coordinates of the detection position are referred to as detection position coordinates. The detection position coordinates are (Xwh, Ywh). Next, deviations of the reference position coordinates (ΔX, ΔY) from the tentative target position coordinates in the X and Y directions are calculated as the correction information based on the following formulas (1), (2).
 
Δ X=Xr−Xwh   (1)
 
Δ Y=Yr−Ywh   (2)
 
     Subsequently, the controller  500  calculates the coordinates of the true target position (hereinafter referred to as true target position coordinates) based on the following formulas (3), (4). The true target position coordinates are (Xrb, Yrb). The true target position coordinates (Xrb, Yrb) are stored in the memory  520  of the controller  500 .
 
 Xrb=Xb−ΔX   (3)
 
 Yrb=Yb−ΔY   (4)
 
     Thus, the true target position coordinates (Xrb, Yrb) coincide with the reference position coordinates (Xw, Yw). 
     During the processing for the substrate W, the controller  500  controls the transport mechanism  127  such that the hand H 1  is moved to the true target position. As a result, the substrate W is transferred to the substrate supporter WS by the hand H 1  such that the center of the substrate W coincides with the reference position in the substrate supporter WS. Further, the substrate W is received from the substrate supporter WS by the hand H 1  to be held at the normal position of the hand H 1 . 
     While the teaching operation using the hand H 1  of the transport mechanism  127  is described in the above-mentioned example, the teaching operation using the hand H 2  is similar to the teaching operation using the hand H 1 . Further, the transport mechanism  115 ,  128 ,  137 ,  138 ,  141 ,  142 ,  146  has the configuration and operation similar to the transport mechanism  127 . Therefore, the teaching operation using the transport mechanism  115 ,  128 ,  137 ,  138 ,  141 ,  142 ,  146  is similar to the teaching operation using the transport mechanism  127 . 
     (8) Method of Detection of Outer Periphery of Substrate 
       FIGS. 10A to 10H  are diagrams for explaining the method of detection of the plurality of portions at the outer periphery of the substrate W by the sensor device  316  of  FIGS. 5 to 6C . In  FIGS. 10A, 10C, 10E, 10G , changes in condition of the hand H 1 , the rotating member  315  and the plurality of detectors  316 D when the hand H 1  retreats towards the advancing retreating reference position are shown in plan views. Schematic cross sectional views taken along the line Q-Q of  FIGS. 10A, 10C, 10E, 10G  are respectively shown in  FIGS. 10B, 10D, 10F, 10H . Explanation regarding the hand H 2  is omitted. 
     First, at a time point at which the substrate W is received by the hand H 1 , the hand H 1  is positioned at a position further forward than the four detectors  316 D. In this case, the hand H 1  is not positioned between the four light emitters  316   t  and the four light receivers  316   r . Therefore, the four light receivers  316   r  receive the light from the opposite four light emitters  316   t , respectively. Thus, the light reception signals are supplied to the controller  500 . 
     Next, the hand H 1  retreats. In this case, as shown in  FIGS. 10A, 10B , the hand H 1  enters the space between the four light emitters  316   t  and the four light receivers  316   r . At this time, the light emitted from the four light emitters  316   t  is shielded by the hand H 1 , so that the four light receivers  316   r  do not receive the light from the opposite four light emitters  316   t , respectively. Therefore, the light reception signals are not supplied to the controller  500 . 
     Next, as shown in  FIGS. 10C, 10D , the hand H 1  passes through the space between the four light emitters  316   t  and the four light receivers  316   r . At a time point at which the hand H 1  passes through a space between each light emitter  316   t  and the light receiver  316   r  opposite to the light emitter  316   t , each light receiver  316   r  receives the light from the opposite light emitter  316   t . Thus, the light reception signal is supplied to the controller  500 . 
     Next, as shown in  FIGS. 10E, 10F , the substrate W held by the hand H 1  enters the space between the four light emitters  316   t  and the four light receivers  316   r . At a time point at which the outer periphery of the substrate W held by the hand H 1  enters the space between each light emitter  316   t  and the light receiver  316   r  opposite to the light emitter  316   t , the light emitted from each light emitter  316   t  is shielded by the outer periphery of the substrate W. In this case, each light receiver  316   r  does not receive the light from the opposite light emitter  316   t . Therefore, the light reception signal is not supplied to the controller  500 . 
     Next, as shown in  FIGS. 10G, 10H , the hand H 1  is stopped at the advancing retreating reference position. At this time, the substrate W held by the hand H 1  is positioned in the space between the four light emitters  316   t  and the four light receivers  316   r . In this case, the four light receivers  316   r  do not receive the light from the opposite four light emitters  316   t , respectively. Therefore, the light reception signal is not supplied to the controller  500 . 
     As described above, the light reception signals are respectively intermittently supplied from the four light receivers  316   r  of the four detectors  316 D to the controller  500  until the hand H 1  is moved to the advancing retreating reference position after the substrate W is received by the hand H 1 . 
     The four portions at the outer periphery of the substrate W are detected based on a time point at which the supply of the light reception signal from each of the four light receivers  316   r  is stopped due to the outer periphery of the substrate W (the time point of  FIGS. 10E, 10F ). Normal data is stored in the memory  520  of the controller  500  in advance. The normal data is the data indicating the results of detection of the four portions at the outer periphery of the substrate W acquired when the hand H 1  is moved from a position in front of the sensor device  316  to the advancing retreating reference position with the center of the substrate W being located at the normal position of the hand H 1 . 
     The sensor device  316  is fixed to the rotating member  315 . Therefore, the positions of the plurality of detectors  316 D of the sensor device  316  on the coordinates are not changed. The controller  500  calculates the coordinates indicating the positions of the four portions at the outer periphery of the substrate W when the hand H 1  is at the advancing retreating reference position based on the differences between the results of detection of the four portions at the outer periphery of the substrate W and the results of detection of the four portions of the normal data. The coordinates of the position of the center of the substrate W when the hand H 1  is located at the advancing retreating reference position are calculated based on the calculated coordinates of the positions of the four portions. 
     The coordinates of the position of the center of the substrate W in the hand H 1  can be calculated based on coordinates of three portions at the outer periphery of the substrate W. In the present example, the coordinates of the four portions at the outer periphery of the substrate W are acquired. Thus, even when one portion of the four portions is a cutout portion (an orientation flat or a notch) for positioning the substrate W, for example, the coordinates of the position of the center of the substrate W can be calculated based on the coordinates of the three portions except for the coordinates of the cutout portion. When an outer diameter of the substrate W is known, the coordinates of the position of the center of the substrate W can be calculated based on coordinates of two portions at the outer periphery of the substrate W. In this case, the sensor device  316  may be constituted by the two or three detectors  316 D. 
     (9) Reference Position in Substrate Supporter 
     As described above, in the teaching operation, the substrate W is supported with its center accurately coinciding with the reference position in the substrate supporter WS expect for a case in which the substrate supporter WS is the spin chuck  25 ,  35 ,  98 . The reference positions are different from one another depending on the types of the substrate supporters WS. The reference position in the substrate supporter WS will be described below. 
     (a) Carriers 
       FIGS. 11A to 11C  are diagrams for explaining the reference position when the substrate supporter WS is provided in the carrier  113 . In the example of  FIGS. 11A to 11C , the carrier  113  is a FOUP (Front Opening Unified Pod). The carrier  113  may be an SMIF (Standard Mechanical Inter Face) pod, an OC (Open Cassette) that exposes the stored substrates W to outside air or the like instead of the FOUP. 
     As shown in  FIG. 11A to 11C , the carrier  113  is constituted by a casing  113   a  having an open front surface, and a lid  113   b  provided to be capable of opening and closing an opening of the casing  113   a .  FIG. 11A  shows a schematic side view of the carrier  113  when the lid  113   b  is in a close state. As shown in  FIG. 11A , when the lid  113   b  is in the close state, the plurality of substrates W are stored in the casing  113   a  to be arranged in a longitudinal direction with their outer peripheries being aligned with one another. In the present example, the casing  113   a  is the substrate supporter WS. Further, a sidewall of the casing  113   a  and the lid  113   b  constitute the guide mechanism. 
       FIG. 11B, 11C  show schematic side views of the carrier  113  when the lid  113   b  is in an open state. When the lid  113   b  is in the open state, the arrangement of the plurality of substrates W are not changed as shown in  FIG. 11B  under normal conditions. In this case, an initial position of a center of any one of the substrates W is the reference position. 
     On the other hand, when the lid  113   b  is in the open state, the arrangement of parts of the substrates W are sometimes changed under abnormal conditions as shown in  FIG. 11C . Therefore, the parts of the substrates W are sometimes moved to project forward of the other substrates W. In this case, the controller  500  takes out the plurality of substrates W from the casing  113   a  using the transport mechanism  115  of  FIG. 1 , and acquires the detection positions, of the plurality of substrates W that are taken out, by the above-mentioned method. A position selected from an average value, a maximum value, a minimum value or the like of the acquired detection positions of the plurality of substrates W is the reference position. 
     (b) Substrate Platforms 
       FIG. 12  is a diagram for explaining the reference position when the substrate supporter WS is provided in the substrate platform PASS 1  to PASS 9 .  FIG. 12  is a schematic plan view of the transport mechanisms  127 ,  137  and the substrate platform PASS 5 . The substrate platform PASS 5  has more than two support pins sp. In the example of  FIG. 12 , the support pins sp of the substrate platform PASS 5  are the substrate supporter WS. It is considered that the substrate W is transported from the transport mechanism  127  to the transport mechanism  137  via the substrate platform PASS 5 . The reference position in the substrate platform PASS 1  to PASS 4 , PASS 6  to PASS 9  is similar to the below-mentioned reference position in the substrate platform PASS 5 . 
     As shown in  FIG. 12 , the controller  500  places the substrate W on the support pins sp of the substrate platform PASS 5  by the transport mechanism  127 . The center of the substrate W placed on the substrate platform PASS 5  is the tentative target position. The tentative target position coordinates in the substrate platform PASS 5  corresponding to the transport mechanism  127  are (Xb1, Yb1). In this case, the tentative target position coordinates (Xb1, Yb1) are considered to be the reference position coordinates (Xw2, Yw2) in the substrate platform PASS 5  corresponding to the transport mechanism  137 . That is, the tentative target position in the substrate platform PASS 5  corresponding to the transport mechanism  127  is considered to be the reference position in the substrate platform PASS 5  corresponding to the transport mechanism  137 . 
     (c) Placement Buffer Units 
     The placement buffer unit P-BF 1 , P-BF 2  of  FIG. 4  has a function as a substrate platform similar to the substrate platform PASS 1  to PASS 9 , and a function as a buffer unit that temporarily stores the substrate W. The reference position when the placement buffer unit P-BF 1 , P-BF 2  functions as the substrate platform is similar to the reference position in the substrate platform PASS 1  to PASS 9 . 
     On the other hand, when the placement buffer unit P-BF 1 , P-BF 2  functions as the buffer unit, the substrate W is carried into and carried out from the placement buffer unit P-BF 1 , P-BF 2  by the same transport mechanism (any one of the transport mechanisms  141 ,  142 ). Therefore, the position of the substrate W on the hand (not shown) of the transport mechanism  141 ,  142  is not changed before carrying of the substrate W into the placement buffer unit P-BF 1 , P-BF 2  and after carrying of the substrate W out from the placement buffer unit P-BF 1 , P-BF 2 . Therefore, any position of the placement buffer unit P-BF 1 , P-BF 2  may be the reference position. 
     (d) Cooling Units, Thermal Processing Units, Adhesion Reinforcement Processing Units or Placement Cooling Units 
       FIG. 13  is a perspective view of the thermal processing unit PHP.  FIG. 14  is a plan view of the thermal processing unit PHP of  FIG. 13 .  FIG. 15  is a side view of the thermal processing unit PHP of  FIG. 13 . As shown in  FIGS. 13, 14 , the thermal processing unit PHP includes a cooler  410 , a heater  420  and a transport mechanism  430 . The cooler  410  and the heater  420  are arranged in alignment. The transport mechanism  430  is arranged to be capable of transporting the substrate W between the cooler  410  and the heater  420 . 
     The cooler  410  includes a substrate platform plate  411 , and a plurality (three in the present example) of support pins  412  that can be lifted and lowered. The substrate platform plate  411  is a cooling plate, for example. A plurality (three in the present example) of support pin insertion holes are formed in the substrate platform plate  411 . A transport arm  434  of the below-mentioned transport mechanism  430  comes into contact with an upper surface of the substrate platform plate  411 , whereby the substrate W held by the transport arm  434  can be cooled together with the transport arm  434 . 
     The plurality of support pins  412  are arranged such that they can be respectively inserted into the plurality of support pin insertion holes of the substrate platform plate  411  by being moved in the vertical direction. During the carrying of the substrate W into and out from the cooler  410 , upper ends of the plurality of support pins  412  are respectively moved between positions above the substrate platform plate  411  and positions below the upper surface of the substrate platform plate  411  through the plurality of support pin insertion holes. 
     The heater  420  includes a substrate platform plate  421 , a plurality (three in the present example) of support pins  422  that can be lifted and lowered, and a plurality (six in the present example) of guide members  423 . The substrate platform plate  421  is a hot plate that performs heating processing on the substrate W, for example. A plurality (three in the present example) of support pin insertion holes are formed in the substrate platform plate  421 . The plurality of support pins  422  have the configuration similar to the plurality of support pins  412 . 
     The plurality of guide members  423  are provided at substantially equal intervals along an edge of the substrate platform plate  421 . In the present example, the six guide members  423  are provided at intervals of substantially 60°. As shown in  FIG. 13 , each guide member  423  has a truncated cone shape. When the substrate W is arranged in a region surrounded by the plurality of guide members  423 , the substrate W is led downward along inclined side surfaces of the guide members  423 . Thus, the center of the substrate platform plate  421  coincides with the center of the substrate W. 
     The transport mechanism  430  includes two elongated guide rails  431 ,  432  provided to extend in the vertical direction. The guide rails  431 ,  432  are arranged to be opposite to each other with the cooler  410  and the heater  420  sandwiched therebetween. The elongated guide rail  433  is provided between the guide rail  431  and the guide rail  432 . The guide rail  433  is attached to the guide rails  431 ,  432  to be movable in the vertical direction. The transport arm  434  is attached to the guide rail  433 . The transport arm  434  is provided to be movable in the longitudinal direction of the guide rail  433 . 
     As shown in  FIGS. 13 and 14 , slits  435  are provided in the transport arm  434  such that the transport arm  434  does not interfere with the plurality of support pins  412  of the cooler  410  and the plurality of support pins  422  of the heater  420 . Further, a plurality of guide members  436  are provided at the transport arm  434 . The plurality of guide members  436  have the configuration similar to the plurality of guide members  423 . During the substrate processing, the transport arm  434  transports the substrate W between the cooler  410  and the heater  420 . In the present example, the transport arm  434  is the substrate supporter WS, and the plurality of guide members  436  are the guide mechanisms. 
       FIGS. 16A to 16E  are diagrams for explaining the reference position when the substrate supporter WS is provided in the thermal processing unit PHP. Hereinafter, the reference position in a case in which the transport arm  434  of the thermal processing unit PHP is the substrate supporter WS will be explained. The reference position in the cooling unit CP, the adhesion reinforcement processing unit PAHP or the placement cooling platform P-CP is similar to the reference position in the thermal processing unit PHP. 
     During the teaching operation, the plurality of support pins  412  of the cooler  410  are first lifted as shown in  FIG. 16A . Next, as shown in  FIG. 16B , the transport mechanism  127  holds the substrate W by the hand H 1  and transports the substrate W to the upper ends of the plurality of lifted support pins  412 . Thus, the substrate W is supported by the plurality of support pins  412  with its center being located at the tentative target position. 
     Thereafter, as shown in  FIG. 16C , the plurality of support pins  412  are lowered. When the tentative target position does not coincide with the reference position, the substrate W is led downward along the inclined side surfaces of the plurality of guide members  436  on the transport arm  434  as indicated by the arrow in  FIG. 16C . Thus, the center of the transport arm  434  coincides with the center of the substrate W. 
     Next, as shown in  FIG. 16D , the plurality of support pins  412  are lifted. Subsequently, as shown in  FIG. 16E , the transport mechanism  127  receives the substrate W by the hand H 1  from the plurality of support pins  412 . In  FIG. 16D , the position of the center of the substrate W supported by the plurality of support pins  412  is the reference position. That is, the position of the center of the substrate W led by the plurality of guide members  436  is the reference position. 
     (e) Cleaning Drying Processing Units 
       FIGS. 17A, 17B  are diagrams showing the configuration of each of the cleaning drying processing units SD 1 .  FIG. 17A, 17B  show a side view and a plan view of the cleaning drying processing unit SD 1 , respectively. Each cleaning drying processing unit SD 2  has the configuration similar to the cleaning drying processing unit SD 1 . 
     As shown in  FIG. 17A , the cleaning drying processing unit SD 1  includes a spin chuck  610  that horizontally holds the substrate W and rotates the substrate W about a rotation axis  611   a  in the vertical direction. The spin chuck  610  includes a spin motor  611 , a disk-shape spin plate  612 , a plate support member  613 , magnet plates  614   a ,  614   b  and a plurality of chuck pins  615 . 
     As shown in  FIG. 17A , the plate support member  613  is attached to a lower end of a rotation shaft of the spin motor  611 . The spin plate  612  is horizontally supported by the plate support member  613 . The spin plate  612  is rotated about the rotation axis  611   a  in the vertical direction by the spin motor  611 . 
     A liquid supply pipe  610   a  is inserted into the spin motor  611  and the plate support member  613 . A cleaning liquid can be supplied to the upper surface of the substrate W held by the spin chuck  610  through the liquid supply pipe  610   a . Pure water, for example, is used as the cleaning liquid. 
     More than three (four in the present example) chuck pins  615  are provided at the peripheral portion of the spin plate  612  about the rotation axis  611   a  at equal angular intervals. Each chuck pin  615  includes a shaft  615   a , a pin supporter  615   b , a holder  615   c  and a magnet  616 . The shaft  615   a  is provided to penetrate the spin plate  612 , and the pin supporter  615   b  extending in the horizontal direction is connected to a lower end of the shaft  615   a . The holder  615   c  is provided to project downward from a tip end of the pin supporter  615   b . Further, the magnet  616  is attached to an upper end of the shaft  615   a  above an upper surface of the spin plate  612 . 
     Each chuck pin  615  is rotatable about a vertical axis by being centered at the shaft  615   a  and can be switched between a close state in which the holder  615   c  abuts against the outer peripheral end of the substrate W and an open state in which the holder  615   c  is spaced apart from the outer peripheral end of the substrate W. In the present example, when an N pole of the magnet  616  is on an inner side, each chuck pin  615  enters the close state, and when an S pole of the magnet  616  is on the inner side, each chuck pin  615  enters the open state. 
     The magnet plates  614   a ,  614   b  are arranged above the spin plate  612  in a circumferential direction centered at the rotation shaft  611   a . The magnet plates  614   a ,  614   b  have S poles on the outer side and N poles on the inner side. The magnet plates  614   a ,  614   b  are respectively independently lifted and lowered by a magnet lifting lowering mechanism (not shown) and are moved between an upper position that is higher than the magnet  616  of the chuck pin  615  and a lower position that is substantially the same height as the magnet  616  of the chuck pin  615 . Each chuck pin  615  is switched between the open state and the close state by the lifting and lowering of the magnet plates  614   a ,  614   b  as described below. 
     As shown in  FIG. 17A , a cleaning brush  630  for cleaning the outer peripheral end and the back surface of the substrate W held by the spin chuck  610  is provided in a lower portion of the cleaning drying processing unit SD 1 . The cleaning brush  630  is substantially columnar, and a groove  635  having a V-shape cross section is formed at an outer peripheral surface. The cleaning brush  630  is held by a brush holding member  631 . The brush holding member  631  is driven by a brush moving mechanism (not shown), so that the cleaning brush  630  is moved in the horizontal and vertical directions. 
     A cleaning nozzle  633  is attached to a portion of the brush holding member  631  in the vicinity of the cleaning brush  630 . A liquid supply pipe (not shown) to which the cleaning liquid is supplied is connected to the cleaning nozzle  633 . A discharge port of the cleaning nozzle  633  is directed to a periphery of the cleaning brush  630 , and the cleaning liquid is discharged towards the periphery of the cleaning brush  630  from the discharge port. 
     As shown in  FIG. 17B , more than two (six in the present example) substrate receiving transferring mechanisms  620  are arranged at equal angular intervals about the rotation axis  611   a  of the spin chuck  610 . Each substrate receiving transferring mechanism  620  includes a lifting lowering rotation driver  621 , a rotation shaft  622 , an arm  623  and a holding pin  624 . The rotation shaft  622  is provided to extend upward from the lifting lowering rotation driver  621 , and the arm  623  is coupled to an upper end of the rotation shaft  622  to extend in the horizontal direction. The holding pin  624  for holding the outer peripheral end of the substrate W is provided at a tip end of the arm  623 . 
     As shown in  FIG. 17A , an inner surface at a tip end of each holding pin  624  has an inclined portion. The rotation shaft  622  performs a lifting lowering operation and a rotating operation by the lifting lowering rotation driver  621 . Thus, the holding pin  624  is moved in the horizontal and vertical directions. In the present example, the holding pin  624  is the substrate supporter WS, and the inclined portion of the holding pin  624  is the guide mechanism. 
     Next, the operation of the cleaning drying processing unit SD 1  will be described with reference to  FIGS. 17A to 18D .  FIGS. 18A to 18D  are schematic diagrams for explaining the operation of the cleaning drying processing unit SD 1 . First, as shown in  FIG. 17A , the substrate W is placed on the plurality of holding pins  624  by the transport mechanism  141  of  FIG. 1 . 
     At this time, the magnet plates  614   a ,  614   b  are at the upper positions. In this case, lines of magnetic force B of the magnet plates  614   a ,  614   b  are directed outward at the height of the magnets  616  of the chuck pins  615 . Thus, the S pole of the magnet  616  of each chuck pin  615  is attracted inward. Therefore, each chuck pin  615  enters the open state. Subsequently, the plurality of holding pins  624  are lifted while holding the substrate W. Thus, the substrate W is moved to a position among the holders  615   c  of the plurality of chuck pins  615 . 
     Then, as shown in  FIG. 18A , the magnet plates  614   a ,  614   b  are moved to the lower positions. In this case, the N pole of the magnet  616  of each chuck pin  615  is attracted inward. Thus, each chuck pin  615  enters the close state, and the outer peripheral end of the substrate W is held by the holder  615   c  of each chuck pin  615 . Thereafter, the plurality of holding pins  624  are moved outward of a guard  618 . 
     As shown in  FIG. 18B , during surface cleaning processing for the substrate W, with the substrate W being rotated by the spin chuck  610 , the cleaning liquid is supplied to a surface of the substrate W through the liquid supply pipe  610   a . The cleaning liquid spreads across the surface of the substrate W by centrifugal force and is splashed outward. Thus, particles or the like adhering to the surface of the substrate W are cleaned away. Further, part of a component of the film such as the resist film on the substrate W is eluted in the cleaning liquid and cleaned away. 
     As shown in  FIG. 18C , during back surface cleaning processing for the substrate W, with the substrate W being rotated by the spin chuck  610 , the cleaning brush  630  is moved to a position below the substrate W. Then, with an upper surface of the cleaning brush  630  being in contact with the back surface of the substrate W, the cleaning brush  630  is moved between a position below the center portion and a position below the peripheral portion of the substrate W. The cleaning liquid is supplied from the cleaning nozzle  633  to a contact portion of the substrate W with the cleaning brush  630 . Thus, the entire back surface of the substrate W is cleaned by the cleaning brush  630 , and contaminants adhering to the back surface of the substrate W are removed. 
     As shown in  FIG. 18D , during end cleaning processing for the substrate W, the magnet plate  614   a  is arranged at the lower position, and the magnet plate  614   b  is arranged at the upper position. In this state, the substrate W is rotated by the spin chuck  610 . 
     In this case, each chuck pin  615  enters the close state in an outer region R 1  of the magnetic plate  614   a  (see  FIG. 17B ), and each chuck pin  615  enters the open state in an outer region R 2  of the magnetic plate  614   b  (See  FIG. 17B ). That is, the holder  615   c  of each chuck pin  615  is kept being in contact with the outer peripheral end of the substrate W when passing through the outer region R 1  of the magnetic plate  614   a  and is spaced apart from the outer peripheral end of the substrate W when passing through the outer region R 2  of the magnetic plate  614   b.    
     The cleaning brush  630  is moved to a position between the holder  615   c  of the chuck pin  615  and the outer peripheral end of the substrate W in the outer region R 2 . Then, the groove  635  of the cleaning brush  630  is pressed against the outer peripheral end of the substrate W. The cleaning liquid is supplied from the cleaning nozzle  633  ( FIG. 18C ) to a contact portion of the cleaning brush  630  with the substrate W. Thus, the entire outer peripheral end of the substrate W is cleaned, and contaminants adhering to the outer peripheral end of the substrate W are removed. 
     Drying processing for the substrate W is performed after the above-mentioned surface cleaning processing, back surface cleaning processing and end cleaning processing. In this case, the magnet plates  614   a ,  615   b  are arranged at the lower positions, and the substrate W is held by all of the chuck pins  615 . In this state, the substrate W is rotated at a high speed by the spin chuck  610 . Thus, the cleaning liquid adhering to the substrate W is shaken off, so that the substrate W is dried. 
       FIGS. 19A to 19D  are diagrams for explaining the reference position when the substrate supporter WS is provided in the cleaning drying processing unit SD 1 . The reference position in a case in which the holding pins  624  of the cleaning drying processing unit SD 1  are the substrate supporter WS will be described below. The reference position in the cleaning drying processing unit SD 2  is similar to the reference position in the cleaning drying processing unit SD 1 . 
     As shown in  FIG. 19A , during the teaching operation, the transport mechanism  141  first holds the substrate W by the hand H 1  and transports the substrate W to a position above the plurality of holding pins  624  of the cleaning drying processing unit SD 1 . Thus, the substrate W is held by the hand H 1  with its center coinciding with the tentative target position above the plurality of holding pins  624 . 
     Next, as shown in  FIG. 19B , the plurality of holding pins  624  are lifted. When the tentative target position does not coincide with the reference position, the substrate W is led to the center of the plurality of holding pins  624  along the inclined side surfaces of the plurality of holding pins  624  as indicated by an arrow in  FIG. 19C . Thus, the center of the plurality of holding pins  624  coincides with the center of the substrate W. 
     Then, as shown in  FIG. 19D , the transport mechanism  141  receives the substrate W from the plurality of holding pins  624  by the hand H 1 . In  FIG. 19C , the position of the center of the substrate W supported by the plurality of holding pins  624  is the reference position. That is, the position of the center of the substrate W led by the plurality of holding pins  624  is the reference position. 
     (10) Teaching Operation in Spin Chuck 
     When the spin chuck  25 ,  35 ,  98  is the substrate supporter WS, in a case in which the position of the rotational center of the spin chuck  25 ,  35 ,  98  is known, the teaching operation in the horizontal direction may be performed with the position of the rotational center being used as the reference position. On the other hand, when the position of the rotational center of the spin chuck  25 ,  35 ,  98  is not known, the teaching operation in the horizontal direction may be performed according to the following steps. 
       FIGS. 20A to 20D  are diagrams for explaining the teaching operation in the horizontal direction when the substrate supporter WS is the spin chuck  25 ,  35 ,  98 .  FIGS. 20A to 20D  show schematic plan views of the transport mechanism  127  and the spin chuck  25 . In the example of  FIGS. 20A to 20D , the substrate supporter WS is the spin chuck  25 . The teaching operation in the spin chuck  35 ,  98  is similar to the teaching operation in the spin chuck  25 . 
     First, as shown in  FIG. 20A , the transport mechanism  127  holds the substrate W at the normal position by the hand H 1 . The coordinates of the center of the substrate W are calculated. The calculated coordinates of the center of the substrate W are (X1, Y1). Next, as shown in  FIG. 20B , the transport mechanism  127  transports the substrate W to the spin chuck  25 . The spin chuck  25  holds the substrate W such that the center of the substrate W coincides with the tentative target position. Subsequently, as shown in  FIG. 20C , the spin chuck  25  rotates the substrate W by a predetermined angle. The rotation angle of the substrate W by the spin chuck  25  is preferably 180°. 
     Thereafter, as shown in  FIG. 20D , the transport mechanism  127  receives the substrate W from the spin chuck  25 . The coordinates of the center of the substrate W are calculated. The calculated coordinates of the center of the substrate W are (X2, Y2). Next, deviations (ΔX, ΔY) of the reference position coordinates from the tentative target position coordinates are calculated based on the calculated coordinates (X1, Y1) and coordinates (X2, Y2). In the processing of  FIGS. 20B, 20C , when the rotation angle of the substrate W is 180°, the deviations (ΔX, ΔY) of the reference position coordinates from the tentative target position coordinates are supplied by the following formulas (5), (6).
 
Δ X =( X 1+ X 2)/2  (5)
 
Δ Y =( Y 1+ Y 2)/2  (6)
 
     Next, the true target position coordinates (Xrb, Yrb) are calculated. The true target position Xrb in the X direction is supplied by the following formula (7). When X1&lt;X2, a positive sign is applied, and when X1&gt;X2, a negative sign is applied. Further, the true target position Yrb in the Y direction is supplied by the following formula (8). When Y1&lt;Y2, the positive sign is applied, and when Y1&gt;Y2, the negative sign is applied. The calculated true target position coordinates (Xrb, Yrb) are stored in the memory  520  of the controller  500  as the correction information.
 
 Xrb=Xb±ΔX   (7)
 
 Yrb=Yb±ΔY   (8)
 
     While the teaching operation using the hand H 1  of the transport mechanism  127  is described in the above-mentioned example, the teaching operation using the hand H 2  is similar to the operation using the hand H 1 . Further, the teaching operation using the transport mechanism  127 ,  137 ,  138  is similar to the teaching operation using the transport mechanism  127 . 
     (11) One Control Example of Transport Mechanisms 
     In the transport mechanism  127 , the outer periphery of the substrate W held by the hand H 1  is detected by the sensor device  316 . Further, the outer periphery of the substrate W held by the hand H 2  is detected by the sensor device  316 . 
       FIG. 21A  to  FIG. 22C  are diagrams showing one control example of the transport mechanism  127  for detecting the outer peripheries of the two substrates W held by the two hands H 1 , H 2  by the one sensor device  316 . In each of  FIGS. 21A to 21E  and  FIGS. 22A to 22C , a positional relationship between the hands H 1 , H 2  and the one detector  316 D is shown in a longitudinal cross sectional view. 
     In an initial state, the substrate W is not held by each of the hands H 1 , H 2 . Further, the hands H 1 , H 2  are at the advancing retreating reference position FBP. In this case, each light receiver  316   r  receives the light emitted from each light emitter  316   t  and passing through the inside of the guide portion Ha of the hand H 1 , H 2  (see  FIGS. 6A, 6B ). 
     As shown in  FIG. 21A , the lower hand H 2  advances to a position in front of the detector  316 D from the advancing retreating reference position FBP and receives the substrate W arranged at a predetermined position. At this time, the light receiver  316   r  receives the light emitted from the light emitter  316   t.    
     Next, the hand H 2  holding the substrate W retreats towards the advancing retreating reference position FBP. In this case, as shown in  FIG. 21B , the light receiver  316   r  receives the light emitted from the light emitter  316   t  and passing through a space between the outer periphery of the substrate W and the hand H 2  until the hand H 2  is moved to the advancing retreating reference position FBP. Thereafter, when the hand H 2  reaches the advancing retreating reference position FBP, the substrate W held by the hand H 2  is positioned between the light emitter  316   t  and the light receiver  316   r . Thus, as shown in  FIG. 21C , the light receiver  316   r  does not receive the light from the corresponding light emitter  316   t.    
     The hand H 2  is moved as described above. Thus, the plurality of portions at the outer periphery of the substrate W held by the hand H 2  are detected based on the light reception signal output from the light receiver  316   r.    
     Subsequently, as shown in  FIG. 21D , the upper hand H 1  advances to a position in front of the detector  316 D from the advancing retreating reference position FBP and receives the substrate W arranged at a predetermined position. At this time, the light emitted from the light emitter  316   t  is shielded by the substrate W held by the hand H 2 . Therefore, the light receiver  316   r  does not receive the light emitted from the light emitter  316   t.    
     Next, as shown in  FIG. 21E , the hand H 1  holding the substrate W retreats towards the advancing retreating reference position FBP, and the hand H 2  holding the substrate W advances from the advancing retreating reference position FBP. Thereafter, as shown in  FIG. 22A , the hand H 2  is moved to a position further forward than the light emitter  316   t  and the light receiver  316   r . In this manner, the light receiver  316   r  receives the light emitted from the light emitter  316   t  and passing through a space between the outer periphery of the substrate W and the hand H 2  until the hand H 1  is moved to the advancing retreating reference position FBP. 
     When the hand H 1  is moved to the advancing retreating reference position FBP, the substrate W held by the hand H 1  is positioned between the light emitter  316   t  and the light receiver  316   r . Thus, as shown in  FIG. 22B , the light receiver  316   r  does not receive the light from the corresponding light emitter  316   t.    
     The hands H 1 , H 2  are moved as described above. Thus, the plurality of portions at the outer periphery of the substrate W held by the hand H 1  are detected based on the light reception signals output from the light receivers  316   r.    
     Thereafter, as shown in  FIG. 22C , the hand H 2  retreats to the advancing retreating reference position FBP after the substrate W held by the advancing hand H 2  is placed on any one of the substrate supporters WS. 
     As described above, in the present embodiment, the hands H 1 , H 2  perform an advancing retreating operation in the opposite directions to each other, so that the plurality of portions at the outer peripheries of the two substrates W held by the two hands H 1 , H 2  can be detected by the one sensor device  316 . 
     (12) Effects 
     In the present embodiment, during the teaching operation in the horizontal direction regarding the transport mechanism  127  and the like, the hand H 1  is moved to the tentative target position in the substrate supporter WS except for the spin chuck  25  and the like, and the substrate W supported at the reference position in the substrate supporter WS is received by the hand H 1 . The positional relationship between the substrate W held by the hand H 1  and the hand H 1  is detected. The deviation between the tentative target position and the reference position is acquired as the correction information based on the detected positional relationship. 
     Alternatively, the hand H 1  is moved to the tentative target position in the substrate supporter WS such as the spin chuck  25 , and the substrate W is transferred to the substrate supporter WS. The substrate W supported in a horizontal attitude by the substrate supporter WS is rotated about the reference position by the predetermined angle. The hand H 1  is moved to the tentative target position in the substrate supporter WS, and the substrate W supported by the substrate supporter WS is received. The deviation between the tentative target position and the reference position is acquired as the correction information based on the positional relationship between the hand H 1  and the substrate W before the substrate W is transferred to the substrate supporter WS and the positional relationship between the hand H 1  and the substrate W after the substrate W is received from the substrate supporter WS. 
     During the teaching operation or during the substrate processing, the tentative target position is corrected to the true target position to coincide with the reference position based on the acquired correction information. During the substrate processing, the hand H 1  is moved to the true target position, so that the substrate W is transferred to the substrate supporter WS by the hand H 1  or the substrate W is received from the substrate supporter WS by the hand H 1 . Thus, the substrate W can be transferred to the substrate supporter WS by the hand H 1  to be supported at the reference position, or the hand H 1  can be moved to the substrate supporter WS to receive the substrate W supported at the reference position. 
     Further, during the teaching operation in the vertical direction regarding the transport mechanism  127  and the like, the hand H 1  is lifted from below the substrate W supported at the reference height by the substrate supporter WS. It is detected that the hand H 1  has held the lower surface of the substrate W. The target height in the vertical direction is determined based on the position of the hand H 1  in the vertical direction at the detection time point. When the hand H 1  is moved to the substrate supporter WS during the substrate processing, the hand H 1  is moved to the determined target height, whereby the substrate W is transferred to the substrate supporter WS or the substrate W is received from the substrate supporter WS. Thus, the substrate W can be transferred to the substrate supporter WS by the hand H 1  to be supported at the reference height, or the hand H 1  can be moved to the substrate supporter WS to receive the substrate W supported at the reference height. 
     This configuration causes the hand H 1 , H 2  to receive the substrate W supported at the reference position by the substrate supporter WS, so that the teaching operation regarding the transport mechanism  115 ,  127 ,  128 ,  137 ,  138 ,  141 ,  142 ,  146  is performed. Thus, a burden on an operator due to the teaching regarding the transport mechanism  115 ,  127 ,  128 ,  137 ,  138 ,  141 ,  142 ,  146  is reduced. In this case, it is not necessary to prepare a dedicated jig in order to perform the teaching regarding the transport mechanism  115 ,  127 ,  128 ,  137 ,  138 ,  141 ,  142 ,  146 . Therefore, a burden on the operator due to maintenance and management of the jig does not occur, and a cost resulting from the purchase of the jig and the maintenance and management of the jig does not occur either. As a result, the teaching regarding the transport mechanism  115 ,  127 ,  128 ,  137 ,  138 ,  141 ,  142 ,  146  can be performed at a low cost while a burden on the operator is reduced. 
     (13) Other Embodiments 
     (a) While the correction information regarding each hand H 1 , H 2  is independently acquired by the above-mentioned method in the above-mentioned embodiment, the invention is not limited to this. The correction information regarding the one hand may be acquired by the above-mentioned method, and the correction information regarding another hand may be acquired based on the correction information regarding the one hand. 
       FIGS. 23A to 23C  are diagrams for explaining steps for acquiring the correction information of the other hand in another embodiment.  FIGS. 23A to 23C  show schematic plan views of the transport mechanism  127  and the substrate supporter WS. While the hands H 1 , H 2  are provided to overlap with each other in the vertical direction, the hands H 1 , H 2  are shown to be arranged in the horizontal direction in the example of  FIGS. 23A to 23C  in order to facilitate understanding. In the example of  FIGS. 23A to 23C , it is considered that the correction information regarding hand H 2  is acquired based on the correction information regarding the hand H 1 . 
     First, as shown in  FIG. 23A , the transport mechanism  127  holds the substrate W at the normal position by the hand H 1 . The coordinates of the center of the substrate W in the hand H 1  are calculated. The calculated coordinates of the center of the substrate W in the hand H 1  are (X3, Y3). Next, as shown in  FIG. 23B , the hand H 1  transports the substrate W to the substrate supporter WS. The substrate supporter WS holds the substrate W with the center of the substrate W coinciding with the tentative target position. The tentative target position coordinates in the substrate supporter WS corresponding to the hand H 1  are (Xb3, Yb3). 
     Thereafter, as shown in  FIG. 23C , the hand H 2  takes out the substrate W from the substrate supporter WS. The tentative target position coordinates in the substrate supporter WS corresponding to the hand H 2  are (Xb4, Yb4). Because the tentative target position corresponding to the hand H 1  is different from the tentative target position corresponding to the hand H 2 , the hand H 2  holds the substrate W at a position different from the normal position in  FIG. 23C . The coordinates of the center of the substrate W in the hand H 2  are calculated. The calculated coordinates of the center of the substrate Win the hand H 2  are (X4, Y4). 
     The controller  500  calculates the deviations between the coordinates (X3, Y3) of the center of the substrate W in the hand H 1  and the coordinates (X4, Y4) of the center of the substrate W in the hand H 2 . Further, the controller  500  calculates the correction information regarding the hand H 2  based on the calculated deviations and the correction information regarding the hand H 1 . The correction information regarding the hand H 2  is stored in the memory  520  of the controller  500 . 
     The controller  500  determines the target height of the hand H 2  based on the deviation between the reference heights of the hands H 1 , H 2  and the target height of the hand H 1  according to the similar steps. The Z coordinate of the determined target height is stored in the memory  520  of the controller  500 . 
     (b) While the receiving and transferring of the substrates W among the transport mechanisms  115 ,  127 ,  128 ,  137 ,  138 ,  141 ,  142 ,  146  are performed via the substrate platforms PASS 1  to PASS 9  in the above-mentioned embodiment, the invention is not limited to this. The receiving and transferring of the substrates W among the transport mechanisms  115 ,  127 ,  128 ,  137 ,  138 ,  141 ,  142 ,  146  may be directly performed not via the substrate platforms.  FIG. 24  is a diagram for explaining the reference position when the receiving and transferring of the substrate W are directly performed between the transport mechanisms.  FIG. 24  shows a schematic plan view of the transport mechanisms  127 ,  137 . It is considered that the substrate W is received and transferred from the transport mechanism  127  to the transport mechanism  137 . 
     As shown in  FIG. 24 , the transport mechanism  127  transports the substrate W to a region V in which the receiving and transferring are to be performed by the hand H 1  (hereinafter referred to as a receiving transferring region). Thereafter, the transport mechanism  127  waits with the center of the substrate W coinciding with the tentative target position in the receiving transferring region V until the substrate W is received and transferred to the transport mechanism  137 . 
     The tentative target position coordinates in the receiving transferring region V corresponding to the transport mechanism  127  are (Xb5, Yb5). In this case, it is considered that the tentative target position coordinates (Xb5, Yb5) are the reference position coordinates (Xw6, Yw6) in the receiving transferring region V corresponding to the transport mechanism  137 . That is, it is considered that the tentative target position in the receiving transferring region V corresponding to the transport mechanism  127  is the reference position in the receiving transferring region V corresponding to the transport mechanism  137 . 
     (c) In the above-mentioned embodiment, the position of the center of the substrate W led by the plurality of guide members  436  of the transport mechanism  430  is the reference position when the substrate supporter WS is provided in the thermal processing unit PHP. However, the invention is not limited to this. When the transport mechanism  430  is not provided in the thermal processing unit PHP, the position of the center of the substrate W led by the plurality of guide members  423  of the heater  420  may be the reference position. 
     (d) While the substrate W is rotated by 180° by the spin chuck  25  during the teaching operation of  FIGS. 20A to 20D  in the above-mentioned embodiment, the invention is not limited to this. The substrate W may be rotated by any angle by the spin chuck  25  during the teaching operation of  FIGS. 20A to 20D . In this case, the deviations of the reference position coordinates from the tentative target position coordinates can be calculated by a geometric calculation based on the position of the center of the substrate W before the rotation of the substrate W and the position of the center of the substrate W after the rotation of the substrate W. 
     (14) Correspondences Between Constituent Elements in Claims and Parts in Preferred Embodiments 
     In the following paragraphs, non-limiting examples of correspondences between various elements recited in the claims below and those described above with respect to various preferred embodiments of the present invention are explained. 
     In the above-mentioned embodiments, the substrate W is an example of a substrate, the substrate processing apparatus  100  is an example of a substrate processing apparatus, and the hands H 1 , H 2  are examples of a first holder, a second holder or a holder. The substrate supporter WS, the casing  113   a , the support pin sp, the transport arm  434 , the holding pin  624 , the spin chuck  25 ,  35 ,  98  or the hand H 1 , H 2  is an example of a substrate supporter. 
     The transport mechanism  115 ,  127 ,  128 ,  137 ,  138 ,  141 ,  142 ,  146  is an example of a first transport device, a second transport device or a transport device, the sensor device  316  is an example of a position detector and the controller  500  is an example of a controller. A set of the casing  113   a  and the lid  113   b  is an example of a guide mechanism, the guide member  436  or the holding pin  624  is an example of the guide mechanism, the carrier  113  is an example of a storage container, and the substrate platform PASS 1  to PASS 9  is an example of a substrate platform. The suction portion sm is an example of a holding detector or a suction portion, the cooling unit CP, the thermal processing unit PHP, the adhesion reinforcement processing unit PAHP, the placement cooling platform P-CP or the cleaning drying processing unit SD 1 , SD 2  is an example of a processing unit. 
     As each of constituent elements recited in the claims, various other elements having configurations or functions described in the claims can be also used. 
     While preferred embodiments of the present invention have been described above, it is to be understood that variations and modifications will be apparent to those skilled in the art without departing the scope and spirit of the present invention. The scope of the present invention, therefore, is to be determined solely by the following claims. 
     INDUSTRIAL APPLICABILITY 
     The present invention can be effectively utilized for processing for various substrates.