Patent Publication Number: US-2021173314-A1

Title: Carrier device, exposure apparatus, exposure method, manufacturing method of flat-panel display, device manufacturing method, and carrying method

Description:
This is a continuation of U.S. patent application Ser. No. 16/336,134 filed Aug. 23, 2019, which is the U.S. National Stage of International Application No. PCT/JP2017/035463 filed Sep. 29, 2017, which claims priority from Japanese Application No. 2016-194441 filed in Japan on Sep. 30, 2016. The entire contents of each of the above-identified applications is incorporated herein by reference. 
    
    
     TECHNICAL FIELD 
     The present invention relates to carrier devices, exposure apparatuses, exposure methods, manufacturing methods of flat-panel displays, device manufacturing methods, and carrying methods, and more particularly to a carrier device and a carrying method for carrying objects, an exposure apparatus equipped with the carrier device, an exposure method making use of the carrying method, and a manufacturing method of flat-panel displays or a device manufacturing method using the exposure apparatus. 
     BACKGROUND ART 
     Conventionally, in a lithography process for manufacturing electronic devices (micro devices) such as liquid crystal display devices and semiconductor devices (integrated circuits and the like), used are exposure apparatuses such as an exposure apparatus of a step-and-scan method (a so-called scanning stepper (which is also called a scanner)) that, while synchronously moving a mask or a reticle (hereinafter, generically referred to as a “mask”) and a glass plate or a wafer (hereinafter, generically referred to as a “substrate”) along a predetermined scanning direction, transfers a pattern formed on the mask onto the substrate using an energy beam. 
     As this type of exposure apparatuses, an exposure apparatus is known that carries out a glass substrate that has been exposed on a substrate stage device using a substrate exchange device, and then carries in another glass substrate onto the substrate stage device using the substrate exchange device, and thereby sequentially exchanges the glass substrate to be held by the substrate stage device and performs the exposure processing with respect to a plurality of glass substrates in order (e.g., refer to PTL 1). 
     Here, in the case of exposing a plurality of glass substrates, it is preferable to swiftly exchange a glass substrate on the substrate stage device also for improvement of the entire throughput. 
     CITATION LIST 
     Patent Literature 
     [PTL 1] U.S. Patent Application Publication No. 2010/0266961 
     SUMMARY OF THE INVENTION 
     According to a first aspect of the present invention, there is provided a carrier device that carries an object to a support section configured to support the object in a noncontact manner, the device comprising: a first holding section that holds a part of the object at a first position located above the support section; a drive section that moves downward the first holding section holding the object so that the object is supported in a noncontact manner by the support section; and a second holding section that holds the object supported in a noncontact manner by the support section, after the object held by the first holding section is moved by the drive section, wherein the drive section moves the first holding section from the first position to a second position where the first holding section can deliver the object to the second holding section. 
     According to a second aspect of the present invention, there is provided an exposure apparatus, comprising: the carrier device related to the first aspect; and a pattern forming device that forms a predetermined pattern on the object using an energy beam. 
     According to a third aspect of the present invention, there is provided a manufacturing method of a flat-panel display, comprising: exposing an object using the exposure apparatus related to the second aspect; and developing the object that has been exposed. 
     According to a fourth aspect of the present invention, there is provided a device manufacturing method, comprising: exposing an object using the exposure apparatus related to the second aspect; and developing the object that has been exposed. 
     According to a fifth aspect of the present invention, there is provided a carrying method of carrying an object to a support section for supporting the object in a noncontact manner, the method comprising: moving a first holding section that holds a part of the object at a first position located above the support section so that the object is supported in a noncontact manner by the support section; and holding the object, that is supported in a noncontact manner by the support section by the moving, with a second holding section, wherein in the moving, the object is moved from the first position to a second position where the object can be delivered to the second holding section. 
     According to a sixth aspect of the present invention, there is provided an exposure method, comprising: carrying the object to the support section with the carrying method related to the fifth aspect; and exposing the object that has been carried to the support section. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a view schematically showing a configuration of a liquid crystal exposure apparatus related a first embodiment. 
         FIG. 2  is a cross-sectional view taken along the line A-A shown in  FIG. 1 . 
         FIG. 3  is a view showing the details of a substrate stage device equipped in the liquid crystal exposure apparatus shown in  FIG. 1 . 
         FIG. 4  is a required part enlarged view of the substrate stage device. 
         FIG. 5  is a concept view of a substrate position measurement system equipped in the liquid crystal exposure apparatus shown in  FIG. 1 . 
         FIG. 6  is a block diagram showing the input/output relationship of a main controller that centrally configures a control system of the liquid crystal exposure apparatus. 
         FIGS. 7 a  and 7 b    are views (a plan view and a front view, respectively) used to explain an operation (No. 1) of the substrate stage device at the time of exposure operations. 
         FIGS. 8 a  and 8 b    are views (a plan view and a front view, respectively) used to explain an operation (No. 2) of the substrate stage device at the time of exposure operations. 
         FIGS. 9 a  and 9 b    are views (a plan view and a front view, respectively) used to explain an operation (No. 3) of the substrate stage device at the time of exposure operations. 
         FIGS. 10 a  and 10 b    are views (a plan view and a front view, respectively) showing a substrate carrier related to a first modified example of the first embodiment. 
         FIG. 11  is a view showing a substrate stage device related to a second modified example of the first embodiment. 
         FIG. 12 a    is a plan view of a substrate carrier related to the second modified example, and  FIG. 12 b    is a plan view of a substrate table related to the second modified example. 
         FIGS. 13 a  and 13 b    are views (a plan view and a cross-sectional view, respectively) showing a substrate stage device related to a third modified example of the first embodiment. 
         FIG. 14  is a view showing a substrate stage device related to a second embodiment. 
         FIGS. 15 a  and 15 b    are views (a plan view and aside view, respectively) showing a Y guide bar, a weight-cancelling device and the like that the substrate stage device shown in  FIG. 14  has. 
         FIGS. 16 a  and 16 b    are views (a plan view and aside view, respectively) showing a base frame, a coarse movement stage and the like that the substrate stage device shown in  FIG. 14  has. 
         FIGS. 17 a  and 17 b    are views (a plan view and aside view, respectively) showing a noncontact holder, auxiliary tables and the like that the substrate stage device shown in  FIG. 14  has. 
         FIGS. 18 a  and 18 b    are views (a plan view and aside view, respectively) showing a substrate carrier and the like that the substrate stage device shown in  FIG. 14  has. 
         FIGS. 19 a  and 19 b    are views (a plan view and aside view, respectively) used to explain operations at the time of scan exposure of the substrate stage device related to the second embodiment. 
         FIGS. 20 a  and 20 b    are views (No. 1 and No. 2) used to explain a Y-step operation of the substrate stage device related to the second embodiment. 
         FIG. 21  is a view showing a substrate stage device related to a modified example (a fourth modified example) of the second embodiment. 
         FIGS. 22 a  and 22 b    are views (a plan view and a side view, respectively) showing Y guide bars, a weight-cancelling device and the like that the substrate stage device shown in  FIG. 21  has. 
         FIGS. 23 a  and 23 b    are views (a plan view and a side view, respectively) showing a base frame, a coarse movement stage and the like that the substrate stage device shown in  FIG. 21  has. 
         FIGS. 24 a  and 24 b    are views (a plan view and a side view, respectively) showing a noncontact holder, auxiliary tables and the like that the substrate stage device shown in  FIG. 21  has. 
         FIGS. 25 a  and 25 b    are views (a plan view and a side view, respectively) showing a substrate carrier and the like that the substrate stage device shown in  FIG. 21  has. 
         FIG. 26 a    is a view used to explain operations of the substrate stage device related to the fourth modified example at the substrate carrying-out time, and  FIG. 26 b    is a cross-sectional view taken along the line B-B shown in  FIG. 26   a.    
         FIG. 27  is a view schematically showing a configuration of a liquid crystal exposure apparatus related a third embodiment. 
         FIG. 28  is a plan view of a substrate stage device and a substrate exchange device that the liquid crystal exposure apparatus shown in  FIG. 27  has. 
         FIG. 29 a    is a plan view of the substrate stage device, and  FIG. 29 b    is a cross-sectional view taken along the line  29   b - 29   b  shown in  FIG. 29   a.    
         FIG. 30 a    is a plan view of the substrate exchange device, and  FIG. 30 b    is a cross-sectional view taken along the line  30   b - 30   b  shown in  FIG. 30   a.    
         FIGS. 31 a  and 31 b    are a plan view and a side view of the liquid crystal exposure apparatus, respectively, used to explain a substrate exchange operation (No.  1 ). 
         FIGS. 32 a  and 32 b    are a plan view and a side view of the liquid crystal exposure apparatus, respectively, used to explain a substrate exchange operation (No.  2 ). 
         FIGS. 33 a  and 33 b    are a plan view and a side view of the liquid crystal exposure apparatus, respectively, used to explain a substrate exchange operation (No.  3 ). 
         FIGS. 34 a  and 34 b    are a plan view and a side view of the liquid crystal exposure apparatus, respectively, used to explain a substrate exchange operation (No.  4 ). 
         FIGS. 35 a  and 35 b    are a plan view and a side view of the liquid crystal exposure apparatus, respectively, used to explain a substrate exchange operation (No.  5 ). 
         FIGS. 36 a  and 36 b    are a plan view and a side view of the liquid crystal exposure apparatus, respectively, used to explain a substrate exchange operation (No.  6 ). 
         FIGS. 37 a  and 37 b    are a plan view and a side view of the liquid crystal exposure apparatus, respectively, used to explain a substrate exchange operation (No.  7 ). 
         FIGS. 38 a  and 38 b    are a plan view and a side view of the liquid crystal exposure apparatus, respectively, used to explain a substrate exchange operation (No.  8 ). 
         FIGS. 39 a  and 39 b    are a plan view and a side view of the liquid crystal exposure apparatus, respectively, used to explain a substrate exchange operation (No.  9 ). 
         FIGS. 40 a  and 40 b    are a plan view and a side view of the liquid crystal exposure apparatus, respectively, used to explain a substrate exchange operation (No.  10 ). 
         FIGS. 41 a  and 41 b    are a plan view and a side view of the liquid crystal exposure apparatus, respectively, used to explain a substrate exchange operation (No.  11 ). 
         FIGS. 42 a  and 42 b    are a plan view and a side view of the liquid crystal exposure apparatus, respectively, used to explain a substrate exchange operation (No.  12 ). 
         FIGS. 43 a  and 43 b    are a plan view and a side view of the liquid crystal exposure apparatus, respectively, used to explain a substrate exchange operation (No.  13 ). 
         FIGS. 44 a  and 44 b    are a plan view and a side view of the liquid crystal exposure apparatus, respectively, used to explain a substrate exchange operation (No.  14 ). 
         FIGS. 45 a  and 45 b    are a plan view and a side view of the liquid crystal exposure apparatus, respectively, used to explain a substrate exchange operation (No.  15 ). 
         FIGS. 46 a  and 46 b    are a plan view and a side view of the liquid crystal exposure apparatus, respectively, used to explain a substrate exchange operation (No.  16 ). 
         FIGS. 47 a  and 47 b    are a plan view and a side view of the liquid crystal exposure apparatus, respectively, used to explain a substrate exchange operation (No.  17 ). 
         FIG. 48  is a view used to explain the third embodiment. 
         FIGS. 49 a  and 49 b    are views (No.  1 ) used to explain a fourth embodiment. 
         FIGS. 50 a  and 50 b    are views (No.  2 ) used to explain the fourth embodiment. 
         FIGS. 51 a  and 51 b    are views (No.  3 ) used to explain the fourth embodiment. 
         FIGS. 52 a  and 52 b    are views (No.  4 ) used to explain the fourth embodiment. 
         FIGS. 53 a  and 53 b    are views (No.  5 ) used to explain the fourth embodiment. 
         FIGS. 54 a  and 54 b    are views (No.  6 ) used to explain the fourth embodiment. 
         FIGS. 55 a  and 55 b    are views (No.  7 ) used to explain the fourth embodiment. 
         FIGS. 56 a  and 56 b    are views (No.  8 ) used to explain the fourth embodiment. 
         FIGS. 57 a  and 57 b    are views used to explain a modified example of the fourth embodiment. 
         FIG. 58  is a view (No.  1 ) used to explain a fifth embodiment. 
         FIG. 59  is a view (No.  2 ) used to explain the fifth embodiment. 
         FIG. 60  is a view (No.  3 ) used to explain the fifth embodiment. 
         FIG. 61  is a view (No.  4 ) used to explain the fifth embodiment. 
         FIG. 62  is a view (No.  5 ) used to explain the fifth embodiment. 
         FIG. 63  is a view (No.  6 ) used to explain the fifth embodiment. 
         FIG. 64  is a view (No.  7 ) used to explain the fifth embodiment. 
         FIG. 65  is a view (No.  8 ) used to explain the fifth embodiment. 
         FIGS. 66 a  and 66 b    are views (No.  1 ) used to explain a sixth embodiment. 
         FIGS. 67 a  and 67 b    are views (No.  2 ) used to explain the sixth embodiment. 
         FIGS. 68 a  and 68 b    are views (No.  3 ) used to explain the sixth embodiment. 
         FIGS. 69 a  and 69 b    are views (No.  4 ) used to explain the sixth embodiment. 
         FIGS. 70 a  and 70 b    are views (No.  5 ) used to explain the sixth embodiment. 
         FIG. 71  is a view (No.  1 ) used to explain a seventh embodiment. 
         FIG. 72  is a view (No.  2 ) used to explain the seventh embodiment. 
         FIG. 73  is a view (No.  3 ) used to explain the seventh embodiment. 
         FIG. 74  is a view (No.  4 ) used to explain the seventh embodiment. 
         FIGS. 75 a  to 75 c    are views (No.  5  to No.  7 ) used to explain the seventh embodiment. 
         FIG. 76  is a view (No.  1 ) used to explain an eighth embodiment. 
         FIGS. 77 a  to 77 c    are views (No.  2  to No.  4 ) used to explain the eighth embodiment. 
         FIG. 78  is a view (No.  1 ) used to explain a ninth embodiment. 
         FIGS. 79 a  to 79 d    are views (No.  2  to No.  5 ) used to explain the ninth embodiment. 
         FIG. 80  is a view (No.  6 ) used to explain the ninth embodiment. 
         FIG. 81  is a view (No.  7 ) used to explain the ninth embodiment. 
         FIG. 82  is a view (No.  8 ) used to explain the ninth embodiment. 
         FIG. 83  is a view (No.  9 ) used to explain the ninth embodiment. 
         FIG. 84  is a view used to explain a modified example of the ninth embodiment. 
         FIGS. 85 a  and 85 b    are views (No.  1  and No.  2 ) used to explain a first modified example. 
         FIGS. 86 a  and 86 b    are views (No.  1  and No.  2 ) used to explain a second modified example. 
         FIGS. 87 a  and 87 b    are views (No.  1  and No.  2 ) used to explain a carry-in operation of a substrate in the fourth embodiment, and  FIGS. 87 c  and 87 d    are views (No.  1  and No.  2 ) showing an example of shift preventing structure of holding pads in the second modified example. 
         FIGS. 88 a  and 88 b    are views (No.  1  and No.  2 ) used to explain a third modified example. 
         FIGS. 89 a  to 89 c    are views (No.  1  to No.  3 ) used to explain a fourth modified example. 
         FIGS. 90 a  and 90 b    are views (No.  1  and No.  2 ) used to explain a fifth modified example. 
         FIG. 91  is a view (No.  1 ) used to explain a sixth modified example. 
         FIGS. 92 a  and 92 b    are views (No.  1  and No.  2 ) used to explain a seventh modified example. 
         FIGS. 93 a  and 93 b    are views (No.  1  and No.  2 ) used to explain an eighth modified example. 
         FIGS. 94 a  to 94 c    are views (No.  1  to No.  3 ) used to explain a ninth modified example. 
         FIG. 95  is a view used to explain a tenth modified example. 
         FIG. 96  is a view used to explain an eleventh modified example. 
         FIG. 97  is a view used to explain a twelfth modified example. 
         FIG. 98  is a view used to explain a thirteenth modified example. 
         FIG. 99  is a view used to explain a fourteenth modified example. 
         FIG. 100  is a view used to explain a fifteenth modified example. 
         FIG. 101  is a view used to explain a sixteenth modified example. 
         FIGS. 102 a  and 102 b    are views (No.  2  and No.  3 ) used to explain the sixth modified example. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     First Embodiment 
     A first embodiment will be described below, using  FIGS. 1 to 9   b.    
       FIG. 1  schematically shows the configuration of a liquid crystal exposure apparatus  10  related to the first embodiment. Liquid crystal exposure apparatus  10  is a projection exposure apparatus of a step-and-scan method, which is a so-called scanner, with a rectangular (square) glass substrate P (hereinafter, simply referred to as a substrate P) used in, for example, a liquid crystal display device (a flat-panel display) or the like, serving as an exposure target object. 
     Liquid crystal exposure apparatus  10  has: an illumination system  12 ; a mask stage  14  to hold a mask M on which patterns such as a circuit pattern are formed; a projection optical system  16 ; an apparatus main body  18 ; a substrate stage device  20  to hold substrate P whose surface (a surface facing the +Z side in  FIG. 1 ) is coated with resist (sensitive agent); a control system thereof; and the like. Hereinafter, the explanation is given assuming that a direction in which mask M and substrate P are each scanned relative to projection optical system  16  at the time of exposure is an X-axis direction, a direction orthogonal to the X-axis within a horizontal plane is a Y-axis direction, and a direction orthogonal to the X-axis and the Y-axis is a Z-axis direction. Further, the explanation is given assuming that rotation directions around the X-axis, the Y-axis and the Z-axis are a θx direction, a θy direction and a θz direction, respectively. 
     Illumination system  12  is configured similarly to an illumination system disclosed in, for example, U.S. Pat. No. 5,729,331 and the like. That is, illumination system  12  irradiates mask M with light emitted from a light source (not illustrated) (e.g. a mercury lamp), as illumination light for exposure (illumination light) IL, via a reflection mirror, a dichroic mirror, a shutter, a wavelength selecting filter, various types of lenses and the like (none of which are illustrated). As illumination light IL, light such as, for example, an i-line (with wavelength of 365 nm), a g-line (with wavelength of 436 nm), and an h-line (with wavelength of 405 nm) (or synthetic light of the i-line, the g-line and the h-line described above) is used. 
     Mask stage  14  holds mask M of a light-transmitting type. Main controller  50  (see  FIG. 6 ) drives mask stage  14  (i.e. mask M) with a predetermined long stroke relative to illumination system  12  (illumination light IL) in the X-axis direction (the scan direction), and also finely drives mask stage  14  in the Y-axis direction and the θz direction, via a mask stage drive system  52  (see  FIG. 6 ) including, for example, a linear motor. Position information of mask stage  14  within the horizontal plane is obtained by a mask stage position measurement system  54  (see  FIG. 6 ) including, for example, a laser interferometer. 
     Projection optical system  16  is disposed below mask stage  14 . Projection optical system  16  is a so-called multi-lens type projection optical system having a configuration similar to a projection optical system disclosed in, for example, U.S. Pat. No. 6,552,775 and the like, and projection optical system  16  is equipped with a plurality of optical systems that are, for example, both-side telecentric and form erected normal images. An optical axis AX of illumination light IL projected on substrate P from projection optical system  16  is substantially parallel to the Z-axis. 
     In liquid crystal exposure apparatus  10 , when mask M located in a predetermined illumination area is illuminated with illumination light IL from illumination system  12 , by illumination light IL that has passed through mask M, a projected image of a pattern (a partial image of the pattern) of mask M within the illumination area is formed on an exposure area on substrate P, via projection optical system  16 . Then, mask M is moved relative to the illumination area (illumination light IL) in the scanning direction and also substrate P is moved relative to the exposure area (illumination light IL) in the scanning direction, and thereby the scanning exposure of one shot area on substrate P is performed and the pattern formed on mask M (the entire pattern corresponding to the scanning range of mask M) is transferred onto the shot area. Here, the illumination area on mask M and the exposure area (an irradiation area of the illumination light) on substrate P are in a relationship optically conjugate with each other by projection optical system  16 . 
     Apparatus main body  18  is a section to support mask stage  14  and projection optical system  16  described above, and is installed on a floor F of a clean room via a plurality of vibration isolating devices  18   d . Apparatus main body  18  is configured similarly to an apparatus main body as disclosed in, for example, U.S. Patent Application Publication No. 2008/0030702, and apparatus main body  18  has: an upper mount section  18   a  (which is also referred to as an optical surface plate or the like) that supports projection optical system  16  described above; a pair of lower mount sections  18   b  (one of which is not illustrated in  FIG. 1  because the pair of lower mount sections  18   b  overlap in a depth direction of the paper surface; see  FIG. 2 ); and a pair of middle mount sections  18   c.    
     Substrate stage device  20  is a section that performs the high accuracy positioning of substrate P relative to projection optical system  16  (illumination light IL), and substrate stage device  20  drives substrate P with a predetermined long stroke along the horizontal plane (the X-axis direction and the Y-axis direction), and also finely drives substrate P in directions of six degrees of freedom. Substrate stage device  20  is equipped with a base frame  22 , a coarse movement stage  24 , a weight cancelling device  26 , an X guide bar  28 , a substrate table  30 , a noncontact holder  32 , a pair of auxiliary tables  34 , a substrate carrier  40  and the like. 
     Base frame  22  is equipped with a pair of X beams  22   a . X beam  22   a  is made up of a member with a rectangular YZ cross-sectional shape extending in the X-axis direction. The pair of X beams  22   a  are disposed at a predetermined spacing in the Y-axis direction, and are each installed on floor F via leg sections  22   b , in a state of being physically separated (vibrationally isolated) from apparatus main body  18 . Each of the pair of X beams  22   a  and each of leg sections  22   b  are integrally connected by a connecting member  22 C. 
     Coarse movement stage  24  is a section for driving substrate P with a long stroke in the X-axis direction, and is equipped with a pair of X carriages  24   a , correspondingly to the pair of X beams  22   a  described above. X carriage  24   a  is formed into an inversed L-like YZ cross-sectional shape, and is placed on the corresponding X beam  22   a  via a plurality of mechanical linear guide devices  24   c.    
     The pair of X carriages  24   a  are synchronously driven with a predetermined long stroke in the X-axis direction (about 1 to 1.5 time the length of substrate P in the X-axis direction) along the respectively corresponding X beams  22   a , by main controller  50  (see  FIG. 6 ) via an X linear actuator that is a part of a substrate table drive system  56  (see  FIG. 6 ) for driving substrate table  30 . The type of the X linear actuator for driving X carriage  24   a  can be changed as needed. In  FIG. 2 , for example, a linear motor  24   d  including a mover that X carriage  24   a  has and a stator that the corresponding X beam  22   a  has is used, but this is not intended to be limiting, and for example, a feed screw (ball screw) device or the like may be used. 
     Further, as illustrated in  FIG. 2 , coarse movement stage  24  has a pair of Y stators  62   a . Y stator  62   a  is made up of a member extending in the Y-axis direction (see  FIG. 1 ). One of Y stators  62   a  and the other of Y stators  62   a  bridge on the pair of X carriages  24   a , at the +X side end vicinity part of coarse movement stage  24  and at the −X side end vicinity part of coarse movement stage  24   a  (see  FIG. 1 ), respectively. The functions of Y stators  62   a  will be described later. 
     Weight cancelling device  26  is inserted between the pair of X carriages  24   a  that coarse movement stage  24  has, and supports the empty weight of a system including substrate table  30  and noncontact holder  32 , from below. Since the details of weight cancelling device  26  are disclosed in, for example, U.S. Patent Application Publication No.  2010 / 0018950 , the description thereof will be omitted. Weight cancelling device  26  is mechanically connected to coarse movement stage  24 , via a plurality of connecting devices  26   a  (which are also referred to as flexure devices) radially extending from weight cancelling device  26 , and weight cancelling device  26  is towed by coarse movement stage  24 , thereby being moved integrally with coarse movement stage  24  in the X-axis direction. Note that, although weight cancelling device  26  is to be connected to coarse movement stage  24  via connecting devices  26   a  radially extending from weight cancelling device  26 , a configuration, in which weight cancelling device  26  is connected by connecting devices  26   a  extending in the X direction in order to be moved only in the X-axis direction, may also be employed. 
     X guide bar  28  is a section that functions as a surface plate when weight cancelling device  26  is moved. X guide bar  28  is made up of a member extending in the X-axis direction, and as illustrated in  FIG. 1 , X guide bar  28  is inserted between the pair of X beams  22   a  that base frame  22  has, and is fixed on the pair of lower mount sections  18   b  that apparatus main body  18  has. The center in the Y-axis direction of X guide bar  28  substantially coincides with the center in the Y-axis direction of the exposure area generated on substrate P by illumination light IL. The upper surface of X guide bar  28  is set parallel to the XY plane (the horizontal plane). Weight cancelling device  26  described above is placed on X guide bar  28  in a noncontact state, for example, via air bearings  26   b . When coarse movement stage  24  is moved in the X-axis direction on base frame  22 , weight cancelling device  26  is moved in the X-axis direction on X guide bar  28 . 
     Substrate table  30  is made up of a plate-like (or box-like) member having a rectangular shape in planar view with the X-axis direction serving as a longitudinal direction, and as illustrated in  FIG. 2 , is supported in a noncontact manner from below by weight cancelling device  26  in a state where the center part is freely oscillated with respect to the XY plane via a spherical bearing device  26   c . Further, as illustrated in  FIG. 1 , the pair of auxiliary tables  34  (not illustrated in  FIG. 2 ) are connected to substrate table  30 . The functions of the pair of auxiliary tables  34  will be described later. 
     Referring back to  FIG. 2 , substrate table  30  is finely driven as needed relative to coarse movement stage  24 , in directions intersecting the horizontal plane (the XY plane), i.e., the Z-axis direction, the θx direction and the θy direction (hereinafter, referred to as Z-tilt directions), by a plurality of linear motors  30   a  (e.g. voice coil motors) that are a part of substrate table drive system  56  (see  FIG. 6 ) and include stators that coarse movement stage  24  has and movers that substrate table  30  itself has. 
     Substrate table  30  is mechanically connected to coarse movement stage  24  via a plurality of connecting devices  30   b  (flexure devices) radially extending from substrate table  30 . Connecting devices  30   b  include, for example, boll joints, and are arranged so as not to disturb the relative movement of substrate table  30  with a fine stroke with respect to coarse movement stage  24  in the Z-tilt directions. Further, in the case where coarse movement stage  24  is moved with a long stroke in the X-axis direction, substrate table  30  is towed by coarse movement stage  24  via the plurality of connecting devices  30   b , and thereby coarse movement stage  24  and substrate table  30  are integrally moved in the X-axis direction. Note that, since substrate table  30  is not moved in the Y-axis direction, substrate table  30  may be connected to coarse movement stage  24  via a plurality of connecting devices  30   b  parallel to the X-axis direction, instead of connecting devices  30   b  radially extending toward coarse movement stage  24 . 
     Noncontact holder  32  is made up of a plate-like (or box-like) member having a rectangular shape in planar view with the X-axis direction serving as a longitudinal direction, and supports substrate P from below with its upper surface. Noncontact holder  32  has a function of preventing the sag, wrinkle or the like of substrate P from being generated (of performing flatness correction of substrate P). Noncontact holder  32  is fixed to the upper surface of substrate table  30 , and is moved with a long stroke integrally with substrate table  30  described above in the X-axis direction and is also finely moved in the Z-tilt directions. 
     The length of each of the four sides of the upper surface (the substrate supporting surface) of noncontact holder  32  is set to be substantially the same as (actually, slightly shorter than) the length of each of the four sides of substrate P. Consequently, noncontact holder  32  can support substantially the entirety of substrate P from below, or more specifically, can support an exposure target area on substrate P (an area excluding margin areas that are formed at the end vicinity parts of substrate P) from below. 
     A pressurized gas supply device and a vacuum suction device (not illustrated) that are installed external to substrate stage device  20  are connected to noncontact holder  32  via piping members such as, for example, tubes. Further, a plurality of minute hole sections that communicate with the piping members referred to above are formed on the upper surface (the substrate placing surface) of noncontact holder  32 . Noncontact holder  32  jets pressurized gas (e.g. compressed air) supplied from the pressurized gas supply device described above to the lower surface of substrate P via (apart of) the hole sections, thereby levitating substrate P. Further, together with the jet of the pressurized gas described above, noncontact holder  32  suctions air between the lower surface of substrate P and the substrate supporting surface by a vacuum suction force supplied from the vacuum suction device described above. Accordingly, the load (the preload) acts on substrate P, and the flatness correction of substrate P is performed along the upper surface of noncontact holder  32 . However, the relative movement between substrate P and noncontact holder  32  in directions parallel to the horizontal plane is not disturbed because a gap is formed between substrate P and noncontact holder  32 . 
     Substrate carrier  40  is a section that holds substrate P, and moves substrate P relative to illumination light IL (see  FIG. 1 ) in directions of three degrees of freedom within the horizontal plane (the X-axis direction, the Y-axis direction and the θz direction). Substrate carrier  40  is formed into a rectangular frame-like (a picture-frame-like) shape in planar view, and is moved relative to noncontact holder  32  along the XY plane in a state of holding the areas (the margin areas) near the ends (the outer periphery edges) of substrate P. The details of substrate carrier  40  will be described below using  FIG. 3 . 
     As illustrated in  FIG. 3 , substrate carrier  40  is equipped with a pair of X frames  42   x  and a pair of Y frames  42   y . The pair of X frames  42   x  are each made up of a tabular member extending in the X-axis direction, and are disposed at a predetermined spacing in the Y-axis direction (the spacing wider than the size of substrate P and the size of noncontact holder  32  in the Y-axis direction). Further, the pair of Y frames  42   y  are each made up of a tabular member extending in the Y-axis direction, and are disposed at a predetermined spacing in the X-axis direction (the spacing wider than the size of substrate P and the size of noncontact holder  32  in the X-axis direction). 
     Y frame  42   y  on the +X side is connected, via a spacer  42   a , to the lower surface of the +X side end vicinity part of each of the pair of X frames  42   x . Similarly, Y frame  42   y  on the −X side is connected, via a spacer  42   a , to the lower surface of the −X side end vicinity part of each of the pair of X frames  42   x . Accordingly, the height positions (the positions in the Z-axis direction) of the upper surfaces of the pair of Y frames  42   y  are set lower (on the −Z side) than the height positions of the lower surfaces of the pair of X frames  42   x.    
     Further, a pair of adsorption pads  44  are attached, spaced apart in the X-axis direction, to the lower surface of each of the pair of X frames  42   x . Consequently, substrate carrier  40  has, for example, four adsorption pads  44  in total. Adsorption pads  44  are disposed protruding from the surfaces of the pair of X frames  42   x  facing each other, toward directions opposed to each other (to the inner side of substrate carrier  40 ). For example, the positions of the four adsorption pads  44  within the horizontal plane (the attached positions with respect to X frames  42   x ) are set so that the four adsorption pads  44  can support the four corner vicinity parts (the margin areas) of substrate P from below in a state where substrate P is inserted between the pair of X frames  42   x . For example, a vacuum suction device (not illustrated) is connected to each of the four adsorption pads  44 . Adsorption pads  44  adsorb and hold the lower surface of substrate P by vacuum suction forces supplied from the vacuum suction device descried above. Note that the number of adsorption pads  44  is not limited to four, but can be changed as needed. 
     Here, as illustrated in  FIG. 2 , in a state where noncontact holder  32  and substrate carrier  40  are combined, the four corner vicinity parts of substrate P are supported (adsorbed and held) from below by adsorption pads  44  that substrate carrier  40  has, and also the substantially entire surface including the center part of substrate P is supported in a noncontact manner from below by noncontact holder  32 . In this state, the +X side end and the −X side end of substrate P protrude from the +X side end and the −X side end of noncontact holder  32 , respectively, and for example, the four adsorption pads  44  (a part of which is not illustrated in  FIG. 2 ) adsorb and hold the portions of substrate P protruding from noncontact holder  32 . That is, the attached positions of adsorption pads  44  with respect to X frames  42   x  are set so that adsorption pads  44  are located on the outer side with respect to noncontact holder  32  in the X-axis direction. 
     Next, a substrate carrier drive system  60  (see  FIG. 6 ) for driving substrate carrier  40  will be described. In the present embodiment, main controller  50  (see  FIG. 6 ) drives substrate carrier  40  with a long stroke relative to noncontact holder  32  in the Y-axis direction and also finely drives substrate carrier  40  in the directions of three degrees of freedom within the horizontal plane, via substrate carrier drive system  60 . Further, main controller  50  drives noncontact holder  32  and substrate carrier  40  integrally (synchronously) in the X-axis direction via substrate table drive system  56  described above (see  FIG. 6 ) and substrate carrier drive system  60 . 
     As illustrated in  FIG. 2 , substrate carrier drive system  60  is equipped with a pair of Y linear actuators  62  that include Y stators  62   a  that coarse movement stage  24  described above has and Y movers  62   b  that work with Y stators  62   a  to generate thrust forces in the Y-axis direction. As illustrated in  FIG. 4 , a Y stator  64   a  and an X stator  66   a  are attached to Y mover  62   b  of each of the pair of Y linear actuators  62 . 
     Y stator  64   a  works with a Y mover  64   b  attached to substrate carrier  40  (the lower surface of Y frame  42   y ), to configure a Y voice coil motor  64  that applies a thrust force in the Y-axis direction to substrate carrier  40 . Further, X stator  66   a  works with an X mover  66   b  attached to substrate carrier  40  (the lower surface of Y frame  42   y ), to configure an X voice coil motor  66  that applies a thrust force in the X-axis direction to substrate carrier  40 . In this manner, substrate stage device  20  has one each of Y voice coil motor  64  and X voice coil motor  66  on each of the +X side and the −X side of substrate carrier  40 . 
     Here, on the +X side and the −X side of substrate carrier  40 , Y voice coil motors  64  and X voice coil motors  66  are each disposed point-symmetric with respect to the gravity center position of substrate P. Consequently, when causing the thrust force in the X-axis direction to act on substrate carrier  40  using X voice coil motor  66  on the +X side of substrate carrier  40  and X voice coil motor  66  on the −X side of substrate carrier  40 , the effect similar to that of causing the thrust force in parallel to the X-axis direction to act on the gravity center position of substrate P can be obtained, that is, the moment in the θz direction can be suppressed from acting on substrate carrier  40  (substrate P). Note that, since a pair of Y voice coil motors  64  are disposed with the gravity center (line) of substrate P in the X-axis direction in between, the moment in the θz direction does not act on substrate carrier  40 . 
     Substrate carrier  40  is finely driven relative to coarse movement stage  24  (i.e. noncontact holder  32 ) in the directions of three degrees of freedom within the horizontal plane, by main controller  50  ( FIG. 6 ) via the pair of Y voice coil motors  64  and the pair of X voice coil motors  66  described above. Further, when coarse movement stage  24  (i.e. noncontact holder  32 ) is moved with a long stroke in the X-axis direction, main controller  50  applies the thrust force in the X-axis direction to substrate carrier  40  using the pair of X voice coil motors  66  described above so that noncontact holder  32  and substrate carrier  40  are integrally moved with a long stroke in the X-axis direction. 
     Further, main controller  50  (see  FIG. 6 ) relatively moves substrate carrier  40  with a long stroke with respect to noncontact holder  32  in the Y-axis direction, using the pair of Y linear actuators  62  and the pair of Y voice coil motors  64  described above. More specifically, while moving Y movers  62   b  of the pair of Y linear actuators  62  in the Y-axis direction, main controller  50  causes the thrust force in the Y-axis direction to act on substrate carrier  40  using Y voice coil motors  64  including Y stators  64   a  attached to Y movers  62   b . Accordingly, substrate carrier  40  is moved with a long stroke independently (separately) from noncontact holder  32  in the Y-axis direction. 
     In this manner, in substrate stage device  20  of the present embodiment, substrate carrier  40  that holds substrate P is moved with a long stroke integrally with noncontact holder  32  in the X-axis (scanning) direction, whereas substrate carrier  40  is moved with a long stroke independently from noncontact holder  32  in the Y-axis direction. Note that, although the Z-positions of adsorption pads  44  and the Z-position of noncontact holder  32  are partially overlap as can be seen from  FIG. 2 , there is no risk that adsorption pads  44  and noncontact holder  32  come into contact with each other because it is only the Y-axis direction in which substrate carrier  40  is relatively moved with a long stroke with respect to noncontact holder  32 . 
     Further, in the case where substrate table  30  (i.e. noncontact holder  32 ) is driven in the Z-tilt directions, substrate P whose flatness has been corrected along noncontact holder  32  changes in attitude together with noncontact holder  32  in the Z-tilt directions, and therefore substrate carrier  40  that adsorbs and holds substrate P changes in attitude together with substrate P in the Z-tilt directions. Note that the attitude of substrate carrier  40  may be prevented from changing, by the elastic deformation of adsorption pads  44 . 
     Referring back to  FIG. 1 , the pair of auxiliary tables  34  are devices that work with noncontact holder  32  to support the lower surface of substrate P held by substrate carrier  40 , when substrate carrier  40  is relatively moved in the Y-axis direction separately from noncontact holder  32 . As is described above, substrate carrier  40  is relatively moved with respect to noncontact holder  32  in a state of holding substrate P, and therefore, for example, when substrate carrier  40  is moved toward the +Y direction from the state shown in  FIG. 1 , the +Y side end vicinity part of substrate P is no longer supported by noncontact holder  32 . Therefore, in substrate stage device  20 , in order to suppress the bending due to the self-weight of a portion, of substrate P, that is not supported by noncontact holder  32 , substrate P is supported from below using one of the pair of auxiliary tables  34 . The pair of auxiliary tables  34  have substantially the same structure, except that they are disposed laterally symmetric on the page surface. 
     As illustrated in  FIG. 3 , auxiliary table  34  has a plurality of air levitation units  36 . Note that a configuration, in which air levitation unit  36  is formed into a bar-like shape extending in the Y-axis direction and the plurality of air levitation units  36  are disposed at a predetermined spacing in the X-axis direction, is employed in the present embodiment, but the shape, the number, the placement and the like of air levitation units  36  are not limited in particular, as far as the bending of substrate P caused by the self-weight can be suppressed. As illustrated in  FIG. 4 , the plurality of air levitation units  36  are supported from below by arm-like support members  36   a  protruding from the side surfaces of substrate table  30 . A minute gap is formed between the plurality of air levitation units  36  and noncontact holder  32 . 
     The height positions of the upper surfaces of air levitation units  36  are set to be substantially the same as (or slightly lower than) the height position of the upper surface of noncontact holder  32 . Air levitation units  36  support substrate Pin a noncontact manner by jetting gas (e.g. air) from the upper surfaces of air levitation units  36  to the lower surface of substrate P. Note that, although noncontact holder  32  described above performs the flatness correction of substrate P by causing the preload to act on substrate P, air levitation units  36  only have to suppress the bending of substrate P, and therefore air levitation units  36  should only supply the gas to the lower surface of substrate P and do not have to control in particular the height position of substrate P on air levitation units  36 . 
     Next, a substrate position measurement system for measuring position information of substrate P in the directions of six degrees of freedom will be described. The substrate position measurement system has a Z-tilt position measurement system  58  (see  FIG. 6 ) for obtaining position information of substrate table  30  in directions intersecting the horizontal plane (the position information in the Z-axis direction, and rotation amount information in the θx direction and the θy direction, hereinafter, referred to as “Z-tilt position information”), and a horizontal-in-plane position measurement system  70  (see  FIG. 6 ) for obtaining position information of substrate carrier  40  within the XY plane (the position information in the X-axis direction and the Y-axis direction, and rotation amount information in the θz direction). 
     As illustrated in  FIG. 2 , Z-tilt position measurement system  58  (see  FIG. 6 ) includes a plurality (at least three) of laser displacement meters  58   a  fixed around spherical bearing device  26   c  on the lower surface of substrate table  30 . Laser displacement meter  58   a  irradiates a target  58   b  fixed to a housing of weight cancelling device  26 , with measurement light, and receives its reflection light, thereby supplying displacement amount information of substrate table  30  in the Z-axis direction at the irradiation point of the measurement light to main controller  50  (see  FIG. 6 ). For example, at least three laser displacement meters  58   a  are disposed at three locations that do not lie on the same straight line (e.g. positions corresponding to vertexes of a regular triangle), and main controller  50  obtains the Z-tilt position information of substrate table  30  (i.e. substrate P) on the basis of the outputs of the at least three laser displacement meters  58   a . Since weight cancelling device  26  is moved along the upper surface of X guide bar  28  (the horizontal plane), main controller  50  can measure the attitude change of substrate table  30  with respect to the horizontal plane regardless of the X-position of substrate table  30 . 
     As illustrated in  FIG. 1 , horizontal-in-plane position measurement system  70  (see  FIG. 6 ) has a pair of head units  72 . One of head units  72  is disposed on the −Y side of projection optical system  16 , while the other head unit  72  is disposed on the +Y side of projection optical system  16 . 
     Each of the pair of head units  72  obtains position information of substrate P within the horizontal plane using reflection-type diffraction gratings that substrate carrier  40  has. As illustrated in  FIG. 3 , correspondingly to the pair head units  72   a , a plurality (e.g. six in  FIG. 3 ) of scale plates  46  are pasted on the upper surface of each of the pair of X frames  42   x  of substrate carrier  40 . Scale plate  46  is made up of a member with a band-like shape in planar view extending in the X-axis direction. The length of scale plate  46  in the X-axis direction is shorter, compared to the length of X frame  42   x  in the X-axis direction, and the plurality of scale plates  46  are arrayed at a predetermined spacing (spaced apart from each other) in the X-axis direction. 
       FIG. 5  shows X frame  42   x  on the −Y side and head unit  72  corresponding thereto. On each of the plurality of scale plates  46  fixed on X frame  42   x , an X scale  48   x  and a Y scale  48   y  are formed. X scale  48   x  is formed in the −Y side half area of scale plate  46 , while Y scale  48   y  is formed in the +Y side half area of scale plate  46 . X scale  48   x  has a reflection-type X diffraction grating, and Y scale  48   y  has a reflection-type Y diffraction grating. Note that in order to facilitate the understanding, a spacing (a pitch) between a plurality of grid lines that form X scale  48   x  and Y scale  48   y  is illustrated wider in  FIG. 5  than the actual spacing (the actual pitch). 
     As illustrated in  FIG. 4 , head unit  72  is equipped with: a Y linear actuator  74 ; a Y slider  76  that is driven with a predetermined stroke relative to projection optical system  16  (see  FIG. 1 ) in the Y-axis direction, by Y linear actuator  74 ; and a plurality of measurement heads (X encoder heads  78   x  and  80   x , and Y encoder heads  78   y  and  80   y ) that are fixed to Y slider  76 . The pair of head units  72  are similarly configured, except that they are configured laterally symmetric on the page surface in  FIGS. 1 and 4 . Further, the plurality of scale plates  46  fixed on the pair of X frames  42   x , respectively, are also configured laterally symmetric in  FIGS. 1 and 4 . 
     Y linear actuator  74  is fixed to the lower surface of upper mount section  18   a  that apparatus main body  18  has. Y linear actuator  74  is equipped with a linear guide that straightly guides Y slider  76  in the Y-axis direction, and a drive system that applies a thrust force to Y slider  76 . The type of the linear guide is not particularly limited, but an air bearing with a high repetitive reproducibility is suitable. Further, the type of the drive system is not particularly limited, and a linear motor, a belt (or wire) drive device or the like can be used. 
     Y linear actuator  74  is controlled by main controller  50  (see  FIG. 6 ). The stroke amount of Y slider  76  in the Y-axis direction by Y linear actuator  74  is set equivalent to the stroke amount of substrate P (substrate carrier  40 ) in the Y-axis direction. 
     As illustrated in  FIG. 5 , head unit  72  is equipped with a pair of X encoder heads  78   x  (hereinafter, referred to as “X heads  78   x ”), and a pair of Y encoder heads  78   y  (hereinafter, referred to as “Y heads  78   y ”). The pair of X heads  78   x  and the pair of Y heads  78   y  are each disposed, spaced apart at a predetermined spacing in the X-axis direction. 
     X heads  78   x  and Y heads  78   y  are encoder heads of a so-called diffraction interference method as disclosed in, for example, U.S. Patent Application Publication No. 2008/0094592, and irradiate their corresponding scales (X scale  48   x  and Y scale  48   y ) with measurement beams downwardly (toward the −Z direction), and receive beams (returned beams) from the corresponding scales, thereby supplying displacement amount information of substrate carrier  40  to main controller  50  (see  FIG. 6 ). 
     That is, in horizontal-in-plane position measurement system  70  (see  FIG. 6 ), for example, four X heads  78   x  in total that the pair of heads units  72  have and X scales  48   x  that face these X heads  78   x  configure, for example, four X linear encoder systems for obtaining position information of substrate carrier  40  in the X-axis direction. Similarly, for example, four Y heads  78   y  in total that the pair of heads units  72  have and Y scales  48   y  that face these Y heads  78   y  configure, for example, four Y linear encoder systems for obtaining position information of substrate carrier  40  in the Y-axis direction. 
     Here, the spacing in the X-axis direction between the pair of X heads  78   x  and the spacing in the X-axis direction between the pair of Y heads  78   y  that each of the pair of head units  72  has are each set wider than the spacing between scale plates  46  adjacent to each other. Accordingly, in the X encoder systems and the Y encoder systems, at least one of the pair of X heads  78   x  constantly faces X scale  48   x  and also at least one of the pair of Y heads  78   y  constantly faces Y scale  48   y , irrespective of the position of substrate carrier  40  in the X-axis direction. 
     Specifically, main controller  50  ( FIG. 6 ) obtains X-position information of substrate carrier  40  on the basis of the average value of the outputs of the pair of X heads  78   x  in a state where the pair X heads  78   x  both face X scale  48   x . Further, main controller  50  obtains the X-position information of substrate carrier  40  on the basis of only the output of one X head  78   x  of the pair of X heads  78   x  in a state where only the one X head  78   x  faces X scale  48   x . Consequently, the X encoder systems can supply the position information of substrate carrier  40  to main controller  50  without interruption. The same can be said for the Y encoder systems. 
     Here, since substrate carrier  40  of the present embodiment is movable with a predetermined long stroke also in the Y-axis direction as is described above, main controller  50  (see  FIG. 6 ) drives Y slider  76  (see  FIG. 4 ) of each of the pair of head units  72  in the Y-axis direction, via Y linear actuator  74  (see  FIG. 4 ), to follow substrate carrier  40 , depending on the position of substrate carrier  40  in the Y-axis direction, so that respective facing states between X heads  78   x  and Y heads  78   y  and scales  48   x  and  48   y  respectively corresponding thereto are maintained. Main controller  50  comprehensively obtains position information of substrate carrier  40  within the horizontal plane, by using together the displacement amount (the position information) in the Y-axis direction of Y sliders  76  (i.e. each of heads  78   x  and  78   y ) and the output from each of heads  78   x  and  78   y.    
     The position (displacement amount) information of Y sliders  76  (see  FIG. 4 ) within the horizontal plane is obtained by encoder systems with the measurement accuracy equivalent to that of the encoder systems using X heads  78   x  and Y heads  78   y  described above. As can be seen from  FIGS. 4 and 5 , Y slider  76  has a pair of X encoder heads  80   x  (hereinafter, referred to as “X heads  80   x ”) and a pair of Y encoder heads  80   y  (hereinafter, referred to as “Y heads  80   y ”). The pair of X heads  80   x  and the pair of Y heads  80   y  are each disposed at a predetermined spacing in the Y-axis direction. 
     Main controller  50  (see  FIG. 6 ) obtains position information of Y sliders  76  within the horizontal plane using a plurality of scale plates  82  fixed to the lower surface of upper mount section  18   a  of apparatus main body  18  (see  FIG. 1  for each of them). Scale plate  82  is made up of a member with a band-like shape in planar view extending in the Y-axis direction. In the present embodiment, for example, two scale plates  82  are disposed at a predetermined spacing (spaced apart from each other) in the Y-axis direction, above each of the pair of head units  72 . 
     As illustrated in  FIG. 5 , in a +X side area on the lower surface of scale plate  82 , an X scale  84   x  is formed facing the pair of X heads  80   x  described above, and in a −X side area on the lower surface of scale plate  82 , a Y scale  84   y  is formed facing the pair of Y heads  80   y  described above. X scale  84   x  and Y scale  84   y  are light-reflection-type diffraction gratings having the configurations substantially similar to those of X scale  48   x  and Y scale  48   y  formed on scale plate  46  described above. Further, X head  80   x  and Y head  80   y  are encoder heads of a diffraction interference method having the configurations similar to those of X head  78   x  and Y head  78   y  (the downward heads) described above. 
     The pair of X heads  80   x  and the pair of Y heads  80   y  irradiate their corresponding scales (X scale  84   x  and Y scale  84   y ) with measurement beams upwardly (toward the +Z direction), and receive the beams from the corresponding scales, thereby supplying displacement amount information of Y slider  76  (see  FIG. 4 ) within the horizontal plane to main controller  50  (see  FIG. 6 ). The spacing in the Y-axis direction between the pair of X heads  80   x  and the spacing in the Y-axis direction between the pair of Y heads  80   y  are each set wider than the spacing between scale plates  82  adjacent to each other. Accordingly, at least one of the pair of X heads  80   x  constantly faces X scale  84   x  and also at least one of the pair of Y heads  80   y  constantly faces Y scale  84   y , irrespective of the position of Y slider  76  in the Y-axis direction. Consequently, the position information of Y slider  76  can be supplied to main controller  50  (see  FIG. 6 ) without interruption. 
     In  FIG. 6 , a block diagram is illustrated that shows the input/output relationship of main controller  50  that centrally configures the control system of liquid crystal exposure apparatus  10  (see  FIG. 1 ) and performs the overall control of each of the constituents. Main controller  50  includes a workstation (or a microcomputer) and the like, and performs the overall control of each of the constituents of liquid crystal exposure apparatus  10 . 
     In liquid crystal exposure apparatus  10  (see  FIG. 1 ) configured as described above, under the control of main controller  50  (see  FIG. 6 ), mask M is loaded onto mask stage  14  by a mask loader (not illustrated) and also substrate P is loaded onto substrate stage device  20  (substrate carrier  40  and noncontact holder  32 ) by a substrate loader (not illustrated). After that, main controller  50  implements alignment measurement using an alignment detection system (not illustrated), and focus mapping using an autofocus sensor (not illustrated) (a surface position measurement system of substrate P), and after the alignment measurement and the focus mapping are finished, the exposure operations of a step-and-scan method are sequentially performed with respect to a plurality of shot areas set on substrate P. 
     Next, an example of operations of substrate stage device  20  at the time of exposure operations will be described using  FIGS. 7 a  to 9 b   . Note that, in the description below, the case where four shot areas are set on one substrate P (the so-called case of preparing four areas) will be described, but the number and the placement of the shot areas set on one substrate P can be changed as needed. In the present embodiment, as an example, the description will be made assuming that the exposure processing is performed from a first shot area  51  set on the −Y side and on the +X side of substrate P. Further, in order to avoid the intricacy of the drawings, a part of elements that substrate stage device  20  has is omitted in  FIGS. 7 a    to  9   b.    
       FIGS. 7 a  and 7 b    show a plan view and a front view, respectively, of substrate stage device  20  in a state where operations such as an alignment operation have been completed and preparation of the exposure operation with respect to the first shot area  51  is finished. In substrate stage device  20 , as illustrated in  FIG. 7 a   , the positioning of substrate P is performed on the basis of the output of horizontal-in-plane position measurement system  70  (see  FIG. 6 ) so that the +X side end of the first shot area  51  is slightly located on the further −X side than exposure area IA to be formed on substrate P by illumination light IL from projection optical system  16  (see  FIG. 7 b    for each of them) being irradiated (however, in the state shown in  FIG. 7 a   , illumination light IL has not yet been irradiated on substrate P). 
     Further, since the center of exposure area IA and the center of X guide bar  28  (i.e. noncontact holder  32 ) substantially coincide with each other in the Y-axis direction, the +Y side end vicinity part of substrate P held by substrate carrier  40  protrudes from noncontact holder  32 . The protruding portion of substrate P is supported from below by auxiliary table  34  disposed on the +Y side of noncontact holder  32 . At this time, although the flatness correction by noncontact holder  32  is not performed with respect to the +Y side end vicinity part of substrate P, the exposure accuracy is not affected because the flatness corrected state is maintained for an area including the first shot area S 1  serving as an exposure target. 
     Subsequently, from the state as shown in  FIGS. 7 a  and 7 b   , substrate carrier  40  and noncontact holder  32  are integrally (synchronously) driven (accelerated, driven at the constant speed, and decelerated) toward the +X direction on X guide bar  28  (see a black arrow in  FIG. 8 a   ), synchronously with mask M (see  FIG. 1 ), on the basis of the output of horizontal-in-plane position measurement system  70  (see  FIG. 6 ), as illustrated in  FIGS. 8 a  and 8 b   . While substrate carrier  40  and noncontact holder  32  are driven at the constant speed in the X-axis direction, substrate P is irradiated with illumination light IL that has passed through mask M (see  FIG. 1 ) and projection optical system  16  (see  FIG. 8 b    for each of illumination light IL and projection optical system  16 ), and thereby a mask pattern that mask M has is transferred onto the first shot area S 1 . At this time, substrate carrier  40  is finely driven as needed relative to noncontact holder  32  in the directions of three degrees of freedom within the horizontal plane, in accordance with the result of the alignment measurement, and noncontact holder  32  is finely driven as needed in the Z-tilt directions in accordance with the result of the focus mapping described above. 
     Here, in horizontal-in-plane position measurement system  70  (see  FIG. 6 ), when substrate carrier  40  and noncontact holder  32  are driven in the X-axis direction (toward the +X direction in  FIG. 8 a   ), Y sliders  76  that the pair of head units  72  respectively have (see  FIG. 4  for each of them) are in a static state (however, head units  72  do not have to be strictly in a static state, and at least apart of the heads that head units  72  have only have to face scale plate  46  in the Y-axis direction). 
     When the transfer of the mask pattern onto the first shot area S 1  on substrate P has been completed, in substrate stage device  20 , as illustrated in  FIGS. 9 a  and 9 b   , for the exposure operation with respect to a second shot area S 2  set on the +Y side of the first shot area S 1 , substrate carrier  40  is driven (Y-step driven) relative to noncontact holder  32  by a predetermined distance toward the −Y direction (a distance that is substantially a half of the width direction size of substrate P) (see black arrows in  FIG. 9 a   ), on the basis of the output of horizontal-in-plane position measurement system (see  FIG. 6 ). By the foregoing Y-step operation of substrate carrier  40 , the −Y side end vicinity part of substrate P held by substrate carrier  40  is supported from below by auxiliary table  34  disposed on the −Y side of noncontact holder  32 . 
     Further, in horizontal-in-plane position measurement system  70  (see  FIG. 6 ), when substrate carrier  40  described above is driven in the Y-axis direction, Y slider  76  that each of the pair of head units  72  has (see  FIG. 4  for each of them) is driven in the Y-axis direction synchronously with substrate carrier  40  (however, their velocities need not strictly be coincide with each other). 
     Then, although not illustrated, substrate carrier  40  and noncontact holder  32  are driven toward the −X direction, synchronously with mask M (see  FIG. 1 ), and thereby the scanning exposure with respect to the second shot area S 2  is performed. Further, the Y-step operation of substrate carrier  40  and the constant speed movement of substrate carrier and noncontact holder  32  in the X-axis direction in synchronization with mask M are repeated as needed, and thereby the scanning exposure operations with respect to all the shot areas set on substrate P are sequentially performed. 
     According to substrate stage device  20  described so far that liquid crystal exposure apparatus  10  related to the present first embodiment has, when the high accuracy positioning of substrate P within the XY plane is performed, substrate carrier  40  with a frame-like shape that holds only the outer periphery edges of substrate P is driven in the directions of three degrees of freedom within the horizontal plane. Therefore, a driving target object (substrate carrier  40  in the present embodiment) is lightweight, compared with, for example, the case of performing the high accuracy positioning of substrate P by driving a substrate holder that adsorbs and holds the entire lower surface of substrate P in the directions of three degrees of freedom within the horizontal plane, and thus the position controllability is improved. Further, the actuators for driving (Y voice coil motors  64  and X voice coil motors  66  in the present embodiment) can be downsized. 
     Further, since horizontal-in-plane position measurement system  70  for obtaining position information of substrate P within the XY plane includes the encoder systems, the influence by air fluctuation can be reduced, compared with, for example, conventional interferometer systems. Consequently, the positioning accuracy of substrate P is improved. In addition, since the influence by air fluctuation is small, a partial air-conditioning facility that is essential in the case of using the conventional interferometer systems can be omitted, which allows the cost to be reduced. 
     Note that the configuration described in the present first embodiment is an example, and can be modified as needed. For example, in a substrate carrier  40 A related to a first modified example as shown in  FIGS. 10 a  and 10 b   , a plate member  42   b  that is auxiliary is connected to the outer side surface of each of the pair of X frames  42   x . Plate members  42   b  are disposed substantially parallel to the XY plane and the lower surfaces of plate members  42   b  face the upper surfaces of air levitation units  36  via a predetermined spacing, as illustrated in  FIG. 10 b   . The plurality of air levitation units  36  jet the gas to the lower surfaces of plate members  42   b , thereby causing a force (a lift force) toward the +Z direction (upwardly in the gravity direction) to act on substrate carrier  40 A. Since, in substrate carrier  40 A related to the present first modified example, plate members  42   b  are constantly supported from below by the plurality of air levitation units  36 , it is possible to prevent X frames  42   x  and noncontact holder  32  (or air levitation units  36 ) from coming into contact with each other when substrate carrier  40 A is relatively moved with respect to noncontact holder  32  in the Y-axis direction, even if the difference in level (the difference in the height position in the Z-axis direction) is formed between noncontact holder  32  and the plurality of air levitation units  36 . 
     Further, for example, like a substrate stage device  120  related to a second modified example as shown in  FIG. 11 , a reference index plate  144  may be attached to a substrate carrier  140  and mark measurement sensors  132  may be attached to substrate table  30 . As illustrated in  FIG. 12 a   , a plurality of reference marks  146  are formed at reference index plate  144 , spaced apart from each other in the Y-axis direction. Reference index plate  144  is fixed, via a raising member  148 , to the upper surface of a Y frame  142   y  on the −X side of substrate carrier  140  so that the Z-positions of the plurality of reference marks  146  are substantially the same as the Z-position of the surface of substrate P (see  FIG. 11 ). Referring back to  FIG. 11 , the plurality of mark measurement sensors  132  are attached to a tabular member  134  with a T-like shape in planar view (see  FIG. 12 b   ) that is formed protruding from the side surface on the −X side of substrate table  30 . As illustrated in  FIG. 12 b   , the plurality of mark measurement sensors  132  are disposed, spaced apart from each other in the Y-axis direction, correspondingly to the plurality of reference marks  146  described above (i.e., so that the plurality of mark measurement sensors  132  overlap with the plurality of reference marks  146  in a vertical direction). 
     In the present second modified example, calibration related to, for example, the optical properties (such as, for example, scaling, shift and rotation) of projection optical system  16  (see  FIG. 1 ) is performed using the plurality of reference marks  146  and the plurality of mark measurement sensors  132  corresponding thereto. The calibration method is substantially the same as a calibration method disclosed in, for example, Japanese Patent Application Publication No. 2006-330534, and therefore the description thereof will be omitted. In the present second modified example, since substrate table  30 , which is mechanically separated from substrate carrier  140  having reference marks  146 , has mark measurement sensors  132 , the wiring and the like are not necessary for substrate carrier  140  itself, which allows the weight of substrate carrier  140  to be reduced. 
     Further, Y frame  142   y  of substrate carrier  140  related to the present second modified example is formed wider, compared to that of the first embodiment described above. Then, as illustrated in  FIG. 12 b   , on each of the upper surface of tabular member  134  described above and the upper surface of a tabular member  136  formed protruding from the side surface on the +X side of substrate table  30 , for example, two air bearings  138  that are spaced apart in the Y-axis direction are attached. As illustrated in  FIG. 11 , for example, the two air bearings  138  on the +X side face the lower surface of Y frame  142   y  on the +X side of substrate carrier  140 , and for example, the two air bearings  138  on the −X side face the lower surface of Y frame  142   y  on the −X side of substrate carrier  140 . Air bearings  138  jet the pressurized gas to the lower surfaces of the facing Y frames  142   y , thereby supporting substrate carrier  140  in a noncontact manner via a predetermined gap. Accordingly, the bending of substrate carrier  140  is suppressed. Note that air bearings  138  may be attached to the substrate carrier  140  side so as to face the upper surfaces of tabular members  134  and  136  described above. Further, for example, substrate carrier  140  may be magnetically levitated using magnets, instead of air bearings  138 , or a buoyancy force may be caused to act using actuators such as voice coil motors. 
     Further, like a substrate stage device  220  related to a third modified example as shown in  FIGS. 13 a  and 13 b   , the Z-positions of Y linear actuators  62 , Y voice coil motors  64  and X voice coil motors  66  may be set to be the same as the Z-position of substrate carrier  40 A. That is, in substrate stage device  220 , Y movers  64   b  of Y voice coil motors  64  and X movers  66   b  of X voice coil motors  66  are fixed to the side surfaces of Y frames  42   y  of substrate carrier  40 A. Further, Y stators  62   a  of Y linear actuators  62  for driving in the Y-axis direction Y movers  62   b , to which Y stators  64   a  of Y voice coil motors  64  and X stators  66   a  of X voice coil motors  66  are attached, are attached on a coarse movement stage  224  via support columns  62   c , so that the Z-positions of Y stators  62   a  are the same as the Z-position of substrate carrier  40 A. 
     Further, substrate carrier  40 A of the present third modified example has a pair of auxiliary plate members  42   b  that are supported from below by the plurality of air levitation units  36 , which is similar to the first modified example described above (see  FIGS. 10 a  and 10 b   ). Further, As illustrated in  FIG. 13 b   , tabular members  234  and  236  protrude from the side surface on the −X side and the side surface on the +X side, respectively, of substrate table  30 , and air levitation units  238  each extending in the Y-axis direction are fixed on tabular members  234  and  236 , which is similar to the second modified example described above (see  FIGS. 11 to 12   b ). The height positions of the upper surfaces of air levitation units  238  are set lower, compared to the height positions of air levitation units  36 . In substrate carrier  40 A, Y frames  42   y  are constantly (irrespective of the position in the Y-axis direction) supported in a noncontact manner from below by air levitation units  238 . In other words, substrate carrier  40 A is placed on a pair of air levitation units  238 . Accordingly, the bending of substrate carrier  40 A is suppressed. 
     Second Embodiment 
     Next, a liquid crystal exposure apparatus related to a second embodiment will be described using  FIGS. 14 to 20   b . Since the configuration of the liquid crystal exposure apparatus related to the second embodiment is the same as that in the first embodiment described above, except that the configuration of a substrate stage device  420  is different. Therefore, only the differences will be described below, and elements that have the same configurations and functions as those in the first embodiment described above will be provided with the same reference signs as those in the first embodiment described above, and the description thereof will be omitted. 
     In substrate stage device  20  (see the drawings such as  FIG. 1 ) of the first embodiment described above, substrate carrier  40  that holds substrate P is configured to be moved with a long stroke integrally with noncontact holder  32  in the scan direction and to be moved with a long stroke separately from noncontact holder  32  in the non-scan direction, whereas in substrate stage device  420  in the present second embodiment, inversely to the first embodiment described above, a substrate carrier  440  that holds substrate P is moved with a long stroke integrally with noncontact holder  32  in the non-scan direction and is moved with a long stroke separately from noncontact holder  32  in the scan direction, which is different from the first embodiment described above. That is, substrate stage device  420  related to the present second embodiment is configured, as a whole, like substrate stage device  20  related to the first embodiment described above being rotated around the Z-axis, for example, at a 90 degree angle. Note that the longitudinal direction of substrate P is substantially parallel to the X-axis, which is similar to the first embodiment described above. 
     The details of substrate stage device  420  will be described below. As illustrated in  FIG. 14 , substrate stage device  420  is equipped with: abase frame  422 ; a coarse movement stage  424 ; weight cancelling device  26  (not illustrated in  FIG. 14 ; see the drawings such as  FIG. 15 a   ); a Y guide bar  428  (not illustrated in  FIG. 14 ; see the drawings such as  FIG. 15 a   ); substrate table  30  (not illustrated in  FIG. 14 ; see the drawings such as  FIG. 17 a   ); noncontact holder  32 ; a pair of auxiliary tables  434 ; substrate carrier  440 ; and the like. Since base frame  422 , coarse movement stage  424 , Y guide bar  428 , the pair of auxiliary tables  434  and substrate carrier  440  referred to above are members that function similarly to base frame  22 , coarse movement stage  24 , X guide bar  28 , the pair of auxiliary tables  34  and substrate carrier  40  (see  FIGS. 1 and 2 ), those members will be briefly described below. Note that weight cancelling device  26 , substrate table  30  and noncontact holder  32  are substantially the same as those in the first embodiment described above, respectively. 
     As illustrated in  FIGS. 15 a  and 15 b   , in the present second embodiment, a lower mount section  418   b  that is a part of an apparatus main body  418  installed on floor F via vibration isolating devices  18   d  is made up of one plate-like member, and Y guide bar  428  is fixed to the upper surface of lower mount section  418   b . On Y guide bar  428 , weight cancelling device  26  is placed. Further, as illustrated in  FIGS. 16 a  and 16 b   , base frame  422  has a pair of Y beams  422   a  installed on floor F via leg sections  422   b , and coarse movement stage  424  is placed movable with a predetermined long stroke in the Y-axis direction on base fame  422 . In the present second embodiment, coarse movement stage  424  has a pair of Y tables  424   b  that connect the +Y-side end vicinities of a pair of Y carriages  424   a  and connect the −Y-side end vicinities of the pair of Y carriages  424   a , respectively. One ends of connecting devices  26   a  for towing weight cancelling device  26  (see the drawings such as  FIG. 15 a   ) and one ends of connecting devices  30   b  for towing substrate table  30  (see the drawings such as  FIG. 17 b   ) are connected to Y tables  424   b . Further, X stators  462   a  are fixed to the pair of Y tables  424   b  via support columns  462   c . X stators  462   a  configure X linear actuators  462  together with X movers  462   b . And, a Y stator  464   a  and an X stator  466   a  are attached to X mover  462   b.    
     As illustrated in  FIGS. 17 a  and 17 b   , substrate table  30  and noncontact holder  32  are each made up of a plate-like (or box-like) member having a rectangular shape in planar view with the X-axis direction serving as a longitudinal direction, which is similar to the first embodiment described above. Each of the pair of auxiliary tables  434  has a plurality of air levitation units  436  that are supported from below by arm-like support members  436   a  that protrude from the side surfaces of substrate table  30 . Air levitation unit  436  is made up of a member extending in the X-axis direction, which is different from the first embodiment described above (see the drawings such as  FIG. 3 ). Further, a pair of air levitation units  438  are connected to substrate table  30  via support members  438   a . Air levitation unit  438  functions similarly to air levitation unit  238  of the third modified example described above (see  FIGS. 13 a  and 13 b   ), except that air levitation unit  438  extends in the X-axis direction. That is, the pair of air levitation units  438  support a pair of X frames  442   x  that substrate carrier  440  has, from below in a noncontact manner, as illustrated in  FIG. 14 . 
     As illustrated in  FIGS. 18 a  and 18 b   , substrate carrier  440  is made up of a rectangular frame-like (a picture-frame-like) member, which is similar to the first embodiment descried above (see the drawings such as  FIG. 3 ), and has the pair of X frames  442   x  and a pair of Y frames  442   y . Y frames  42   y  are attached to the lower surface sides of X frames  42   x  (see  FIG. 3 ) in substrate carrier  40  of the first embodiment described above, whereas Y frames  442   y  are attached to the upper surface sides of X frames  442   x  in substrate carrier  440  of the present second embodiment. Accordingly, the contact between Y frames  442   y  and air levitation units  438  that auxiliary tables  434  have (see  FIG. 14  for each of them) is avoided. Further, a plurality of adsorption pads  44  are attached to the lower surfaces of Y frames  442   y . A plurality of scale plates  46  are attached to each of the pair of X frames  442   x , which is the same as the first embodiment described above. Further, on the side surface of each of the pair of X frames  442   x , attached are a Y mover  464   b  and an X mover  466   b  that configure a Y voice coil motor  464  and an X voice coil motor  466  (see  FIG. 20 a    for each of them), respectively, together with Y stator  464   a  and X stator  466   a  described above (see  FIG. 16 a    for each of them). Since a position measurement system of substrate carrier  440  is the same as that in the first embodiment described above, the description thereof will be omitted. 
     As illustrated in  FIGS. 19 a  and 19 b   , main controller  50  performs the positioning of substrate P relative to exposure area IA in the X-axis direction by driving only substrate carrier  440  in the X-axis direction. An area, which is not supported by noncontact holder  32 , of substrate P is supported by either one of the pair of auxiliary tables  434 . In exposure operations in the present second embodiment, since only substrate carrier  440  is driven with a long stroke relative to exposure area IA in the X-axis direction, substrate P passes through a space above noncontact holder  32  (in a state where a predetermined gap is formed in between). Noncontact holder  32  performs the flatness correction of substrate P passing through the space above, in a noncontact manner. 
     Further, as illustrated in  FIGS. 20 a  and 20 b   , main controller  50  performs the positioning of substrate P relative to projection optical system  16  (i.e. exposure area IA (see  FIG. 19 a   )) in the Y-axis direction, by driving coarse movement stage  424  and noncontact holder  32  with a predetermined long stroke in the Y-axis direction and also moving substrate carrier  440  integrally with coarse movement stage  424  in the Y-axis direction. 
     According to the second embodiment described so far, since only substrate carrier  440  is driven in the scanning direction at the time of scanning exposure, the vibration can be suppressed from being generated, compared to the first embodiment described above (see the drawings such as  FIG. 8 a   ) in which noncontact holder  32  and the pair of auxiliary tables  34  also need to be driven in the scan direction, and therefore the high accuracy exposure operations can be performed. Since weight cancelling device  26  is moved only at the time of the Y-step operation, the size of Y guide bar  428  in the longitudinal direction is shorter, compared to that of X guide bar  28  in the first embodiment described above. Further, since weight cancelling device  26  is in a static state at the time of exposure operations, the flatness degree of the guide surface of Y guide bar  428  serving as a surface plate for weight cancelling device  26  may be rough, compared to the first embodiment described above. 
     Note that the configuration described in the present second embodiment is an example, and can be modified as needed. For example, as in a substrate stage device  520  related to a modified example of the second embodiment (a fourth modified example) as shown in  FIGS. 21 to 26   b , a pair of auxiliary tables  534  may be physically separated from substrate table  30  (see  FIG. 24 a   ). With regard to the fourth modified example, only the differences from the second embodiment described above will be described below, and common elements will be provided with the same reference signs as those in the second embodiment described above, and the description thereof will be omitted. 
     As illustrated in  FIGS. 22 a  and 22 b   , for example, three Y guide bars  528  are fixed, at a predetermined spacing in the X-axis direction, on lower mount section  418   b . Y guide bar  528  is formed with a size and a shape similar to those of Y guide bar  428  (see the drawings such as  FIG. 15 a   ) in the second embodiment described above. In the present fourth modified example, however, weight cancelling device  26  is placed on Y guide bar  528  via a mechanical linear guide device  26   d , and therefore the flatness degree of the upper surface of Y guide bar  528  is rough, compared to that of Y guide bar  428  related to the second embodiment described above. Further, a Z actuator  526  is placed on Y guide bars  528  on the +X side and the −X side via Y linear guide device  26   d.    
     Further, as illustrated in  FIGS. 23 a  and 23 b   , to each of a pair of Y tables  424   b  that a coarse movement stage  524  has, a pair of plate-like members  524   a  are connected protruding toward the +X direction and the −X direction. One ends of connecting devices  26   a  for towing Z actuators  526  described above (see the drawings such as  FIG. 22 b   ) are connected to plate-like members  524   a . That is, in the present fourth modified example, for example, two Z actuators  526  (see the drawings such as  FIG. 22 b    for each of them) are towed by coarse movement stage  524  in a similar manner to weight cancelling device  26  (integrally with weight cancelling device  26 ). 
     As illustrated in  FIGS. 24 a  and 24 b   , each of the pair of auxiliary tables  534  has a plurality (e.g. four in  FIG. 24 a   ) of air levitation units  436 . Similarly to the second embodiment described above, the plurality of air levitation units  436  support from below a portion, of substrate P, that is not supported by noncontact holder  32 . Further, auxiliary table  534  has a pair of air levitation units  538 . In auxiliary table  534 , the plurality of air levitation units  436  and the pair of air levitation units  538  are integrally placed on a base member  536   a . Auxiliary table  534  on the +X side is supported from below by Z actuator  526  (see the drawings such as  FIG. 22 b   ) on the +X side described above, while auxiliary table  534  on the −X side is supported from below by Z actuator  526  (see the drawings such as  FIG. 22 b   ) on the −X side described above (see  FIG. 26 b   ). A pair of air levitation units  538  are also fixed to substrate table  30  via support members  538   a . Note that air levitation unit  438  of the second embodiment described above is formed with a length enough to cover the entire movement range of substrate carrier  440  (about three times the length of substrate P) in the X-axis direction (see  FIG. 14  for each of them), whereas air levitation unit  538  of the present modified example is formed with a length that is about the same as the length of the other air levitation unit  436  (about the same as the length of substrate P). 
     Similarly to the second embodiment described above, also in the present fourth modified example, X frames  442   x  of substrate carrier  540  (see  FIG. 21  for each of them) are supported from below, as needed, by the plurality of air levitation units  538  (air levitation units  538  that auxiliary tables  534  have and air levitation units  538  that substrate  30  has). 
     As illustrated in  FIGS. 25 a  and 25 b   , in substrate carrier  540 , Y frames  442   y  are fixed on X frames  442   x  via spacers  442   a  (not illustrated in  FIG. 25 a    because spacers  442   a  are hidden behind Y frames  442   y ). Further, a pair of adsorption pads  44  on the −X side are attached to the lower surface of Y frame  442   y  on the −X side, whereas a pair of adsorption pads  44  on the +X side are formed protruding from the inner side surfaces of X frames  442   x . Accordingly, in substrate carrier  540  of the present modified example, the carry-out of substrate P from substrate carrier  540  can be performed, by moving substrate P, from the state as shown in  FIG. 25 a   , toward the +X direction and causing substrate P to pass below Y frame  442   y  on the +X side as illustrated in  FIG. 25 b   . Also, the carry-in of substrate P to substrate carrier  540  can be performed, by moving substrate P toward the −X direction. 
     Further, reference index plate  144 , at which the plurality of reference marks  146  are formed, is fixed on Y frame  442   y  on the −X side via raising member  148 , which is similar to the second modified example (see  FIG. 12 a   ) of the first embodiment described above. And, correspondingly to the plurality of reference marks  146 , a plurality of mark measurement sensors  532  are attached to the lower surface of Y frame  442   y  on the −X side. That is, reference index plate  144  and mark measurement sensors  132  are separately provided in the second modified example described above (see  FIG. 11 ), whereas reference index plate  144  and mark measurement sensors  532  are integrally provided at substrate carrier  540  in the present modified example. Since the calibration using reference index plate  144  is the same as the second modified example described above, the description thereof will be omitted. 
     In  FIGS. 26 a  and 26 b   , substrate stage device  520  at the time of carry-out operations of substrate P is illustrated. The carry-out of substrate P is performed in a state where substrate carrier  540  is in the center of the movement range in the X-axis direction, i.e., substantially the entirety of substrate P is supported by noncontact holder  32 . After the holding by adsorption of substrate P by substrate carrier  540  is released, substrate P is slid and moved toward the +X direction with respect to substrate carrier  540  by a carry-out device (not illustrated). Accordingly, substrate P is delivered (transferred) from noncontact holder  32  onto the plurality of air levitation units  436  that auxiliary table  534  on the +X side has. Note that the carry-out device for sliding substrate P in the X-axis direction may be provided external to substrate stage device  520  (including also an external device of the liquid crystal exposure apparatus), or substrate stage device  520  itself may have the carry-out device. 
     In substrate stage device  520  (see  FIG. 21 ) related to the fourth modified example described so far, since the pair of auxiliary tables  534  and substrate table  30  (and noncontact holder  32 ) are physically separated, the Z-tilt position controllability of substrate P is improved by weight reduction of a driving target object. Further, the respective Z-positions of the pair of auxiliary tables  534  can be independently controlled, and therefore, for example, when substrate P is moved (transferred) from noncontact holder  32  onto air levitation units  436  of auxiliary table  534 , the contact between the end of substrate P and air levitation units  436  can be avoided by slightly lowering the Z-position of that auxiliary table  534 . Further, substrate P can be carried out from (and carried into) substrate carrier  540  by sliding and moving substrate P, and therefore, even in the case where a space above substrate stage device  520  is small, the substrate exchange on substrate carrier  540  can be performed easily. 
     Note that the configurations of the first embodiment and the second embodiment (including their modified examples) described so far are examples, and can be changed as needed. For example, although in each of the embodiments described above, substrate carrier  40  or the like is formed into a rectangular frame-like shape by, for example, four frame members along the outer periphery edges (four sides) of substrate P (in the first embodiment, a pair of X frames  42   x  and a pair of Y frames  42   y ), this is not intended to be limiting as far as the holding by adsorption of substrate P can be reliably performed. And, substrate carrier  40  or the like may be configured of frame members, for example, along a part of the outer periphery edges of substrate P. Specifically, the substrate carrier may be formed into a U-like shape in planar view by, for example, three frame members along three sides of substrate P, or may be formed into an L-like shape in planar view by, for example, two frame members along two adjacent sides of substrate P. Also, the substrate carrier may be formed by, for example, only one frame member along one side of substrate P. Further, the substrate carrier may be configured by a plurality of members which hold portions different from each other of substrate P and whose positions are controlled independently from each other. 
     Note that as illustrated in  FIG. 2 or 13 , although Z-tilt position measurement system  58  irradiates target  58   b  fixed to the housing of weight cancelling device  26  with a measurement beam, using laser displacement meter  58   a  provided at the lower surface of substrate table  30 , and receives the reflected beam, thereby obtaining displacement amount information of substrate table  30  in the Z-axis direction, this is not intended to be limiting. Instead of Z-tilt position measurement system  58 , Z sensor heads  78   z  are disposed at head units  72 , along with X heads  78   x  and Y heads  78   y . As Z sensor head  78   z , for example, a laser displacement meter is used. In an area, of X frame  42   x , in which the scales that face X heads  78   x  and Y heads  78   y  are not disposed, a reflection surface is formed by mirror polishing. Z sensor head  78   z  irradiates the reflection surface with a measurement beam and receives the reflected beam from the reflection surface, thereby obtaining displacement amount information of substrate carrier  40  or  440  in the Z-axis direction at the irradiation point of the measurement beam. Note that the type of Z sensor head  78   z  is not particularly limited, as far as Z sensor head  78   z  can measure the displacement of substrate carrier  40  or  440  (for more detail, X frame  42   x ) in the Z-axis direction with apparatus main body  18  (see  FIG. 1 ) serving as a reference, with a desired accuracy (resolution) and in a noncontact manner. 
     Although the position information of each of substrate P and Y sliders  76  within the XY plane is obtained by X encoder heads  78   x  and Y encoder heads  78   y , Z-tilt position information of each of substrate P and Y sliders  76  may also be obtained together with the position information of each of substrate P and Y sliders  76  within the XY plane, by using, for example, a two-dimensional encoder head (an XZ encoder head or a YZ encoder head) that is capable of measuring displacement amount information in the Z-axis direction. In this case, Z-tilt position measurement system  58  and Z sensor heads  78   z  for obtaining the Z-tilt position information of substrate P can be omitted. Note that, in this case, since two downward Z heads need to constantly face scale plate  46  in order to obtain the Z-tilt position information of substrate P, it is preferable that scale plate  46  is configured of one long scale plate with a length that is about the same as the length of X frame  42   x , or for example, three or more of the two-dimensional encoder heads described above are disposed at a predetermined spacing in the X-axis direction. 
     Although, in each of the embodiments described above, a plurality of scale plates  46  are disposed at a predetermined spacing in the X-axis direction, this is not intended to be limiting, and for example, one long scale plate formed with a length about the same as the length of substrate carrier  40  or the like in the X-axis direction may be used. In this case, since the facing state between the scale plate and the heads is constantly maintained, each head unit  72  only has to have one each of X head  78   x  and Y head  78   y . The same can be said for scale plate  82 . In the case where a plurality of scale plates  46  are provided, the respective lengths of the plurality of scale plates  46  may be different from each other. For example, the length of a scale plate extending in the X-axis direction is set longer than the length of a shot area in the X-axis direction, and thereby the position control of substrate P by head unit  72  that is located across the different scale plates  46  can be avoided at the time of scanning exposure operations. Further (for example, in the case of preparing four areas and the case of preparing six areas), a scale disposed on one side of projection optical system  16  and a scale disposed on the other side may have the respective lengths different from each other. 
     Further, although, in each of the embodiments described above, the position measurement of substrate carrier  40  or the like within the horizontal plane is performed using the encoder systems, this is not intended to be limiting, and for example, bar mirrors each extending in the X-axis direction and the Y-axis direction are attached to substrate carrier  40 , and the position measurement of substrate carrier  40  or the like may be performed by an interferometer system using the bar mirrors. Further, although, in the encoder systems in each of the embodiments described above, a configuration, in which substrate carrier  40  or the like has scale plates (diffraction gratings) and head units  72  have the measurement heads, is employed, this not intended to be limiting, and substrate carrier  40  or the like may have the measurement heads and scale plates that are moved synchronously with the measurement heads may be attached to apparatus main body  18  (the placement reversed to that in each of the embodiments described above may be employed). 
     Further, although in each of the embodiments described above, noncontact holder  32  supports substrate P in a noncontact manner, this is not intended to be limiting as far as the relative movement between substrate P and noncontact holder  32  in directions parallel to the horizontal plane is not disturbed, and substrate P may be supported in a contact state via a rolling element such as, for example, a ball. 
     Third Embodiment 
     Next, a liquid crystal exposure apparatus related to a third embodiment will be described using  FIGS. 27 to 48 . Only the differences from the first embodiment described above will be described below, and elements that have the same configurations and functions as those in the first embodiment described above will be provided with the same reference signs as those in the first embodiment described above, and the description thereof will be omitted. 
     As illustrated in  FIG. 27 , a liquid crystal exposure apparatus  1010  has illumination system  12 , mask stage  14 , projection optical system  16 , a substrate stage device  1020 , a substrate exchange device  1040 , and a control system thereof and the like. Since illumination system  12 , mask stage  14  and projection optical system  16  are the same as those in the first embodiment described above, the description thereof will be omitted. 
     As illustrated in  FIG. 29 b   , substrate stage device  1020  is equipped with a surface plate  1022 , a substrate table  1024 , an empty weight supporting device  1026  and substrate holder  1028 . 
     Surface plate  1022  is made up of, for example, a plate-like member with a rectangular shape in planar view (when viewed from the +Z side) that is disposed so that the upper surface (+Z surface) of surface plate  1022  is parallel to the XY plane, and is installed on floor F via a vibration isolation device (not illustrated). Substrate table  1024  is made up of a thin box-like member having a rectangular shape in planar view. Empty weight supporting device  1026  is placed on surface plate  1022  in a noncontact state and supports the empty weight of substrate table  1024  from below. Further, although not illustrated, substrate stage device  1020  is equipped with: a substrate stage drive system that includes, for example, a linear motor or the like and drives substrate table  1024  with a predetermined long stroke in the X-axis direction and the Y-axis direction (along the XY plane), and finely drives substrate table  1024  in the directions of six degrees of freedom (the X-axis, the Y-axis, the Z-axis, the θx, the θy and the θz); a substrate stage measurement system including, for example, an optical interferometer system or the like, for obtaining position information of substrate table  1024  in the foregoing directions of six degrees of freedom; and the like. 
     Substrate holder  1028  is made up of a plate-like member with a rectangular shape in planar view, and substrate P is placed on its upper surface (the surface on the +Z side). As illustrated in  FIG. 29 a   , the upper surface of substrate holder  1028  is formed into a rectangular shape with the X-axis direction serving as a longitudinal direction, and its aspect ratio is substantially the same as that of substrate P. However, the length of a long side and the length of a short side of the upper surface of substrate holder  1028  are set slightly shorter than the length of a long side and the length of a short side of substrate P, respectively, and the end vicinity parts of the four sides of substrate P protrude outward from substrate holder  1028  in a state where substrate P is placed on the upper surface of substrate holder  1028 . This is because there is a possibility that the resist coated on the surface of substrate P adheres also on the back surface side of the end vicinity parts of substrate P and such the resist should be prevented from adhering on substrate holder  1028 . 
     The upper surface of substrate holder  1028  is finished to be extremely flat across the entire surface. And, on the upper surface of substrate holder  1028 , a plurality of minute hole sections (not illustrated) for air blowing out and/or vacuum suction are formed. Substrate holder  1028  can perform flatness correction of the substantially entire surface of substrate P following (according to) the upper surface of substrate holder  1028 , by suctioning air between the upper surface and substrate P via the plurality of hole sections referred to above, using a vacuum suction force supplied from a vacuum device (not illustrated). Further, substrate holder  1028  can move the back surface of substrate P apart from (levitate substrate P from) the upper surface of substrate holder  1028  by exhausting (jetting) pressurized gas (e.g. air) supplied from a pressurized gas supply device (not illustrate) to the back surface of substrate P via the foregoing hole sections. Furthermore, it is possible to optimize the grounded state of substrate P (e.g., to prevent air stagnation from being generated between the back surface of substrate P and the upper surface of substrate holder  1028 ) by, for example, causing the time difference in timing of exhausting pressurized gas, exchanging the location of the hole section for performing vacuum suction and the hole section for exhausting the pressurized gas as needed, and changing the air pressure between the suction and the exhaust as needed. 
     At the +X side end vicinity part of the upper surface of substrate holder  1028 , for example, two cutouts  1028   a  are formed, spaced apart in the Y-axis direction. Further, at the −X side end vicinity part of the upper surface of substrate holder  1028 , for example, two cutouts  1028   b  are formed, spaced apart in the Y-axis direction. 
     To be more specific, cutout  1028   a  is formed at the corner on the +X side and the +Y side of substrate holder  1028 , and at the corner on the +X side and the −Y side of substrate holder  1028 , and cutouts  1028   a  are open toward the upper surface (the surface on the +Z side) and the side surface on the +X side and the side surface on the +Y side (or the −Y side) of substrate holder  1028 . In contrast, cutouts  1028   b  are open only toward the upper surface and the side surface on the −X side of substrate holder  1028 . 
     As illustrated in  FIG. 28 , substrate exchange device  1040  has a beam unit  1050 , a substrate carry-in device  1060 , a substrate carry-out device  1070  and a substrate assist device  1080 . Beam unit  1050 , substrate carry-in device  1060  and substrate carry-out device  1070  are installed at predetermined positions on the +X side of substrate stage device  1020 . Hereinafter, the explanation is given, referring to the location where beam unit  1050 , substrate carry-in device  1060  and substrate carry-out device  1070 , of substrate exchange device  1040 , as a port section. For example, the delivery of substrate P between an external device such as a coater/developer and liquid crystal exposure apparatus  1010  is performed at the port section. Substrate carry-in device  1060  is a device for carrying a new substrate P before exposure from the port section to substrate holder  1028 . On the other hand, substrate carry-out device  1070  is a device for carrying a substrate P that has been exposed from substrate holder  1028  to the port section. 
     Further, the delivery between the external device (not illustrated) and liquid crystal exposure apparatus  1010  is performed by an external carrier device  1100  that is disposed external to a chamber (not illustrated) that accommodates illumination system  12 , mask stage  14 , projection optical system  16 , substrate stage device  1020 , substrate exchange device  1040  and the like that are described above. External carrier device  1100  has a robot hand with a fork shape and can mount substrate P on the robot hand, and transport substrate P from the external device to the port section in liquid crystal exposure apparatus  1010  and transport substrate P from the port section to the external device. 
     As illustrated in  FIG. 30 a   , beam unit  1050  has a plurality (e.g. six in the present embodiment) of balance beams  1052  that are disposed at a predetermined spacing in the Y-axis direction. Balance beam  1052  includes an elongated air bearing extending parallel to the X-axis direction that serves as a carrying direction of substrate P at the time of substrate exchange. The spacing between the plurality of balance beams  1052  in the Y-axis direction is set so that substrate P can be supported from below with good balance using the plurality of balance beams  1052 , and as illustrated in  FIGS. 32 a  and 32 b   , the plurality of balance beams  1052  do not overlap, in a vertical direction, with a plurality of finger sections that the fork hand of external carrier device  1100  has, when the fork hand is placed above beam unit  1050 . 
     Referring back to  FIG. 30 a   , the length in the longitudinal direction (the X-axis direction) of one balance beam  1052  is set slightly longer than the length in the longitudinal direction of substrate P, and the length in the width direction of one balance beam  1052  is set to, for example, about 1/50 of the length in the width direction of substrate P, or set to, for example, about 10 to 50 times the thickness of substrate P. 
     As illustrated in  FIG. 30 b   , each of the plurality of balance beams  1052  (overlapping in the depth direction of the page surface in  FIG. 30 b   ) is supported from below at a position on an inner side than the both ends in the X-axis direction, by a plurality (e.g. two) of bar-shaped legs  1054  extending in the Z-axis direction. The plurality of legs  1054  that support each balance beam  1052  have the lower end vicinity parts coupled to each other by a base plate  1056  (base plate  1056  is not illustrated in  FIG. 30 a   ). In substrate exchange device  1040 , the plurality of balance beams  1052  integrally move with a predetermined stroke in the X-axis direction by base plate  1056  being driven with a predetermined stroke in the X-axis direction by an X actuator (not illustrated). Further, the Z-positions of the upper surfaces (the air bearing surfaces) of the plurality of balance beams  1052  are set to substantially the same position (height) as the Z-position of the upper surface of substrate holder  1028 . 
     Referring back to  FIG. 30 a   , substrate carry-in device  1060  has a hand  1062  with a fork shape (hereinafter, referred to as a substrate carry-in hand  1062 ), similar to that of external carrier device  1100  described above (see  FIGS. 27 and 28 ). Substrate carry-in hand  1062  has a plurality (e.g. four in the present embodiment) of finger sections  1062   a  extending parallel to the X-axis direction that serves as the carrying direction of substrate P when substrate P is carried in from the port section to substrate holder  1028 . The plurality of finger sections  1062   a  have the +X side end vicinity parts coupled to each other by a coupling member  1062   b . In contrast, the −X side ends (on the substrate holder  1028  (see the drawings such as  FIG. 28 ) side) of the plurality of finger sections  1062   a  are free ends, and a space between the adjacent finger sections  1062   a  is open toward the substrate holder  1028  side. Note that substrate carry-in hand  1062  may suppress substrate P from hanging down between the adjacent finger sections  1062   a , by jetting air to between the adjacent finger sections  1062   a . The same can be said for the robot hand of external carrier device  1100 . 
     Finger sections  1062   a  that substrate carry-in hand  1062  has are each disposed so that the positions of finger sections  1062   a  do not overlap with the positions of the plurality of balance beams  1052  in the Y-axis direction in planar view, similarly to the robot hand of external carrier device  1100  described above (see  FIG. 28 ). Further, a plurality of supporting pads  1062   c  for supporting the back surface of substrate P are attached to the upper surface of each finger section  1062   a . Coupling member  1062   b  is made up of a thin hollow member with a rectangular shape in planar view, and extends in the Y-axis direction that is a direction perpendicular to each finger section  1062   a  (and balance beams  1052  described above). 
     Each of both end vicinity parts of coupling member  1062   b  in the Y-axis direction is coupled to a pair of X-axis drive devices  1064  for driving substrate carry-in hand  1062  in the X-axis direction. Note that the pair of X-axis drive devices  1064  may be driven independently from each other, or may be mechanically coupled by a gear or a belt to be simultaneously driven by one drive motor. Further, although not illustrated, a pair of X-axis drive devices  1064  is vertically movable by a Z-axis drive device. Therefore, substrate carry-in hand  1062  can be moved between a position higher (on the +Z side) than the upper surface of balance beams  1052  and a position lower (on the −Z side) than balance beams  1052 . Note that if substrate carry-in hand  1062  is structured capable of performing the vertical movement (±Z-axis direction) and the horizontal motion in a substrate carry-in direction (movement toward the ±X-axis direction), then for example, the placement of X-axis drive devices  1064  and the Z-axis drive device may be a reversed placement (the Z-axis drive device is on X-axis drive devices  1064 ) to the foregoing placement. 
     Substrate carry-out device  1070  is disposed in the center part of the port section in the Y-axis direction. For example, three of the six balance beams  1052  described above are disposed on the +Y side of substrate carry-out device  1070  and the other three are disposed on the −Y side of substrate carry-out device  1070 . Further, for example, two of the four finger sections  1062   a  of substrate carry-in hand  1062  equipped in substrate carry-in device  1060  are disposed on the +Y side of substrate carry-out device  1070  and the other two are disposed on the −Y side of substrate carry-out device  1070 . That is, substrate carry-out device  1070 , the plurality of finger sections  1062   a  equipped in substrate carry-in hand  1062 , and the plurality of balance beams  1052  are disposed so that their positions do not overlap with each other in the Y-axis direction. 
     Substrate carry-out device  1070  has, for example, one substrate carry-out hand  1072 . As illustrated in  FIG. 30 b   , substrate carry-out hand  1072  is attached to a Z-axis drive unit  1074 , and Z-axis drive unit  1074  is mounted on an X-axis drive unit  1076 . Substrate carry-out hand  1072  can absorb and grip (hold) substrate P using a vacuum suction force supplied from a vacuum device (not illustrated). Accordingly, substrate carry-out device  1070  can cause substrate carry-out hand  1072  to adsorb and grip the lower surface of the +X side end vicinity part of substrate P from below, and to move in the X-axis direction. Referring back to  FIG. 30 a   , the width (the Y-axis direction size) of substrate carry-out hand  1072  is set slightly wider than the width (the Y-axis direction size) of one finger section  1062   a  of substrate carry-in hand  1062 , and set smaller than, for example, the spacing between the two in the center of the six balance beams  1052 . 
     The drive stroke of substrate carry-out hand  1072  by X-axis drive unit  1076  is set longer than the length of substrate P in the X-axis direction, and equal to or slightly shorter than the length of balance beam  1052  in the X-axis direction. As illustrated in  FIG. 30 b   , X-axis drive unit  1076  is installed at a position that is below the plurality of balance beams  1052  and does not disturb the movement of beam unit  1050  (base plate  1056 ) in the X-axis direction. 
     Further, substrate carry-out device  1070  has an alignment pad  1078  that is an alignment device. Alignment pad  1078  is attached to Z-axis drive unit  1074  via a fine driving unit  1079  (not illustrated in  FIG. 30 b   ). Substrate carry-out hand  1072  and alignment pad  1078  are integrally moved in the X-axis direction, whereas the drive controls thereof in the Z-axis direction can be performed independently. Fine driving unit  1079  finely drives alignment pad  1078  in the Y-axis direction and the θz direction. Similarly to substrate carry-out hand  1072  described above, alignment pad  1078  can also adsorb and grip (hold) the lower surface of substrate P using a vacuum suction force supplied from a vacuum device (not illustrated). Accordingly, substrate carry-out device  1070  can cause alignment pad  1078  to adsorb and grip the lower surface of the center part of substrate P from below, to move with a long stroke (or a fine stroke) in the X-axis direction, and to finely move in the Y-axis direction and the θz direction. 
     Note that the configuration of substrate carry-out device  1070  can be changed as needed. For example, a plurality of substrate carry-out hands  1072  may be provided at a predetermined spacing in the Y-axis direction. Further, substrate carry-out hand  1072  and alignment pad  1078  may be attached to X-axis drive units  1076  that are independent. That is, for example, an X drive unit for alignment pad  1078  may be disposed at the center part in the Y-axis direction of the port section, and another X drive unit for substrate carry-out hand  1072  may be disposed on both sides (on the +Y side and the −Y side) of the X drive unit for alignment pad  1078  so that the Y-positions of these X drive units do not overlap with the Y-positions of the plurality of balance beams  1052 . Further, the plurality of balance beams  1052  that beam unit  1050  has may be configured movable not only in the X-axis direction but also in the Z-axis direction. Accordingly, the height of the plurality of balance beams  1052  can be changed in accordance with an operation at the time of delivering substrate P to/from external carrier device  1100  or an operation at the time of delivering substrate P to/from substrate holder  1028  (see  FIG. 27 ) 
     Referring back to  FIG. 27 , substrate assist device  1080  is a device that assists operations of substrate carry-in device  1060  and substrate carry-out device  1070 , at the time of substrate exchange. Further, substrate assist device  1080  is also used for the positioning of substrate P when substrate P is placed onto substrate holder  1028 . 
     As illustrated in  FIGS. 29 a  and 29 b   , substrate stage device  1020  has substrate assist device  1080 . Substrate assist device  1080  is equipped with a pair of substrate carry-out bearer devices  1082   a  and a pair of substrate carry-in bearer devices  1082   b . The pair of substrate carry-out bearer devices  1082   a  assist (or aid) a carry-out operation of substrate P by substrate carry-out device  1070  (see the drawings such as  FIG. 27 ), and the pair of substrate carry-in bearer devices  1082   b  assist (or aid) a carry-in operation of substrate P by substrate carry-in device  1060  (see the drawings such as  FIG. 27 ). 
     As illustrated in  FIG. 29 b   , substrate carry-in bearer device  1082   b  is equipped with a holding pad  1084   b , a Z actuator  1086   z  and an X actuator  1086   x . As illustrated in  FIG. 29 a   , a part of holding pad  1084   b  of one substrate carry-in bearer device  1082   b  (on the +Y side) is inserted in one cutout  1028   b  (on the +Y side) of, for example, the two cutouts  1028   b . And, a part of holding pad  1084   b  of the other substrate carry-in bearer device  1082   b  (on the −Y side) is inserted in the other cutout  1028   b  (on the −Y side). 
     Holding pad  1084   b  is made up of a plate-like member with a rectangular shape in planar view, and is capable of adsorbing and holding the lower surface of substrate P by a vacuum suction force supplied from a vacuum device (not illustrated). 
     As illustrated in  FIG. 29 b   , holding pad  1084   b  can be driven in the Z-axis direction by Z actuator  1086   z . Further, holding pad  1084   b  and Z actuator  1086   z  can be integrally driven in the X-axis direction by X actuator  1086   x  attached to substrate table  1024 . Z actuator  1086   z  includes a support column that supports holding pad  1084  and the support column is disposed external to substrate holder  1028 . Holding pad  1084   b  is movable between a position in contact with the lower surface of substrate P and a position spaced apart from the lower surface of substrate P, by being driven within cutout  1028   b  by Z actuator  1086   z . Further, holding pad  1084   b  can be driven with a long stroke, by Z actuator  1086   z , between a position where a part of holding pad  1084   b  is accommodated inside cutout  1028   b  and a position higher than the upper surface of substrate holder  1028 . In addition, holding pad  1084   b  is movable in the X-axis direction by being driven integrally with Z actuator  1086   z  by X actuator  1086   x.    
     The mechanical structure of substrate carry-out bearer device  1082   a  is generally the same as that of substrate carry-in bearer device  1082   b  described above. That is, as illustrated in  FIG. 29 b   , substrate carry-out bearer device  1082   a  is equipped with a holding pad  1084   a  a part of which is inserted in cutout  1028   a , a Z actuator  1086   z  for driving holding pad  1084   a  in the Z-axis direction, and an X actuator  1086   x  for driving holding pad  1084   a  in the X-axis direction. Note that a movable amount in the X-axis direction of holding pad  1084   a  of substrate carry-out bearer device  1082   a  is set longer than a movable amount in the X-axis direction of holding pad  1084   b  of substrate carry-in bearer device  1082   b . In contrast, a movable amount in the Z-axis direction of holding pad  1084   a  of substrate carry-out bearer device  1082   a  is set shorter than a movable amount in the Z-axis direction of holding pad  1084   b  of substrate carry-in bearer device  1082   b.    
     Substrate assist device  1080  assists as follows at the time of carrying out substrate P (the exposed substrate) from substrate holder  1028 . First of all, the respective holding pads  1084   a  of the pair of substrate carry-out bearer devices  1082   a  adsorb and hold, for example, two points of the +X side end vicinity part of substrate P on substrate holder  1028 . Next, in a state of maintaining the holding by adsorption of substrate P levitated and supported on substrate holder  1028 , the pair of holding pads  1084   a  are driven only with a predetermined stroke (e.g. about 50 mm to 100 mm) in the X-axis direction (toward the +X direction). With this driving of holding pads  1084   a , substrate P is moved with a predetermined stroke in the X-axis direction relative to substrate holder  1028 . Accordingly, the pair of substrate carry-out bearer devices  1082   a  assist the carry-out operation of substrate P by substrate carry-out device  1070  described above (see the drawings such as  FIG. 27 ). 
     Although the derails will be described later, substrate assist device  1080  also assist at the time of carrying in substrate P that is to be placed onto substrate holder  1028 . The outline of this assist is described now referring to  FIGS. 41 to 44  to be described later. First of all, the respective holding pads  1084   b  of the pair of substrate carry-in bearer devices  1082   b  adsorb and hold, for example, two points of the −X side end vicinity part of a substrate P 2  supported on substrate carry-in hand  1062  (finger sections  1062   a ) of substrate carry-in device  1060  (see  FIG. 41 ). Next, when substrate carry-in hand  1062  (finger sections  1062   a ) is moved toward the +X direction and leave a position below substrate P 2 , the pair of holding pads  1084   b  are moved only with a predetermined stroke in the Z-axis direction (toward the −Z direction) in a state of maintaining the holding by adsorption of substrate P 2  (the drawings such as  FIG. 42 b   ). According to this movement of holding pads  1084   b , substrate P 2  is placed onto substrate holder  1028  (the drawings such as  FIG. 43 b   ). Accordingly, the pair of substrate carry-in bearer devices  1082   b  assist the carry-in operation of substrate P by substrate carry-in device  1060  described above (see the drawings such as  FIG. 27 ). 
     Note that the configurations of substrate carry-out bearer devices  1082   a  and substrate carry-in bearer devices  1082   b  can be changed as needed. For example, although each of bearer devices  1082   a  and  1082   b  is attached to substrate table  1024  in the present embodiment, this is not intended to be limiting, and for example, the bearer devices may be attached to substrate holder  1028  or an XY stage device (not illustrated) for driving substrate table  1024  within the XY plane. Further, the positions and the number of bearer devices  1082   a  and  1082   b  are not limited to those of the present embodiment, and for example, the bearer devices may be attached to the side surface on the +Y side and the side surface on the −Y side of substrate table  1024 . 
     In liquid crystal exposure apparatus  1010  (see  FIG. 27 ) configured as described above, under the control of the main controller (not illustrated), mask M is loaded onto mask stage  14  by a mask loader (not illustrated) and also substrate P is loaded onto substrate holder  1028  by substrate exchange device  1040 . After that, the main controller implements alignment measurement using an alignment detection system (not illustrated), and after the alignment measurement is finished, the exposure operations of a step-and-scan method are sequentially performed with respect to a plurality of shot areas set on substrate P. Since the exposure operations are similar to exposure operations of a step-and-scan method that have been conventionally performed, the detailed description thereof will be omitted. Then, substrate P to which the exposure processing is finished is carried out from substrate holder  1028  by substrate exchange device  1040  and another substrate P to be exposed next is carried to substrate holder  1028 , and thereby the exchange of substrate P on substrate holder  1028  is performed, and the exposure operations and the like are continuously performed with respect to a plurality of substrates P. 
     The exchange operations of substrate P (for the sake of convenience, a plurality of substrates P are referred to as a substrate P 1 , a substrate P 2  and a substrate P 3 ) on substrate holder  1028  in liquid crystal exposure apparatus  1010  will be described below using  FIGS. 31 a  to 47 b   . The substrate exchange operations as described below are performed under the control of the main controller (not illustrated). Note that in each of side views used to explain the substrate exchange operations (the drawings such as  FIGS. 31 b  and 32 b   ), the illustration of balance beams  1052 , finger sections  1062   a  of substrate carry-in hand  1062  and X-axis drive devices  1064  (see  FIG. 30 a    for each of them) that are located on the further −Y side (the nearer side) than substrate carry-out device  1070  is omitted, in order to facilitate the understanding of the operations of substrate carry-out device  1070 . 
     Further, in the description below, substrate P 1  that has been exposed is placed in advance on substrate holder  1028  of substrate stage device  1020 , and the operations of carrying out the exposed substrate P 1  and then placing a new substrate P 2  (different from the substrate P 1 ) onto substrate holder  1028  will be described. Furthermore, it is assumed that before the substrate exchange operations, substrate carry-in hand  1062  that substrate exchange device  1040  has and beam unit  1050  are positioned so that the X-position of coupling member  1062   b  and the X-positions of the plurality of balance beams  1052  do not overlap with each other, as illustrated in  FIGS. 30 a    and  30   b.    
     As illustrated in  FIGS. 31 a  and 31 b   , when the new substrate P 2  is transported to the port section by external carrier device  1100  (see arrows in the respective drawings for the operations of respective elements. The same applies hereinafter), substrate exchange device  1040  lowers (−Z drives) the substrate carry-in hand and positions the upper surface of substrate carry-in hand  1062  lower than the lower surface of the plurality of balance beams  1052 . On this operation, the Z-position of the uppermost part of substrate carry-in hand  1062  including coupling member  1062   b  (the portion at the highest +Z position, e.g. the upper surface of coupling member  1062   b ) is set so that a spacing, which allows the insertion of the robot hand of external carrier device  1100 , is formed in the Z-axis direction between the upper surfaces of the plurality of balance beams  1052  and the uppermost part of substrate carry-in hand  1062 . 
     Further, beam unit  1050  is driven toward the +X direction. On this driving, beam unit  1050  is stopped at a position where leg  1054  on the +X side does not come into contact with coupling member  1062   b  of substrate carry-in hand  1062 . Accordingly, parts (the +X side end vicinity parts) of the plurality of balance beams  1052  are positioned above (on the +Z side of) coupling member  1062   b  of substrate carry-in hand  1062 . This position serves as the substrate devilry position between beam unit  1050  and external carrier device  1100 . 
     Next, as illustrated in  FIGS. 32 a  and 32 b   , the robot hand, on which substrate P 2  is placed, of external carrier device  1100  is moved toward the −X direction, and substrate P 2  is positioned in a space above (on the +Z side of) the plurality of balance beams  1052 . On this operation, the Y-position of the robot hand of external carrier device  1100  is positioned so that each of the finger sections of the robot hand with a fork shape that external carrier device  1100  has passes between (does not come into contact with) a pair of balance beams  1052  adjacent to each other. 
     Further, as illustrated in  FIGS. 33 a  and 33 b   , the robot hand of external carrier device  1100  descends, thereby delivering substrate P 2  onto the plurality of balance beams  1052 . The Z-position of the robot hand of external carrier device  1100  is controlled so that the robot hand does not come into contact with substrate carry-in hand  1062  standing by below balance beams  1052 . On this operation, the +X side end vicinity part of substrate P 2  protrudes toward +X side further than the +X side ends of the plurality of balance beams  1052 . After that, the robot hand of external carrier device  1100  is driven toward the +X direction, thereby being withdrawn from the port section (from the inside of the liquid crystal exposure apparatus). 
     Further, in substrate exchange device  1040 , alignment pad  1078  of substrate carry-out device  1070  is driven toward the −X direction below substrate P 2 , and positioned at a position facing the center part of substrate P 2 . In this state, alignment pad  1078  is driven upward (toward the +Z direction) and adsorbs and grips the lower surface of substrate P 2  between the pair of balance beams  1052  in the center. 
     After that, as illustrated in  FIGS. 34 a  and 34 b   , pressurized gas is supplied to each of the plurality of balance beams  1052  of beam unit  1050 , and the pressurized gas is jetted from the upper surface of each of the plurality of balance beams  1052  toward the lower surface of substrate P 2 . Accordingly, substrate P 2  is levitated via a minute gap (e.g., of several tens micrometers to several hundreds micrometers) with respect to the plurality of balance beams  1052 . 
     Here, in substrate exchange device  1040 , a pre-alignment operation is performed on the plurality of balance beams  1052 . The pre-alignment operation is performed, while the position of substrate P 2  is measured in a noncontact manner by a substrate position measurement device (not illustrated) that is disposed, for example, in each of a space above substrate P 2  and a space below substrate P 2 . At the time of the pre-alignment operation, alignment pad  1078  that adsorbs and grips the center part of the lower surface of substrate P 2  is finely driven in the X-axis direction, the Y-axis direction and the θz direction (the directions of three degrees of freedom within the horizontal plane). Since substrate P 2  is supported in a noncontact manner by the plurality of balance beams  1052 , the position correction (the fine positioning) of substrate P 2  in the directions of three degrees of freedom within the horizontal plane can be performed with low friction. Further, in parallel with this pre-alignment operation, alignment pad  1078  is driven toward the −X direction, and substrate P 2  is moved to the center part of the substrate placing surface formed by the plurality of balance beams  1052 . 
     After that, as illustrated in  FIGS. 35 a  and 35 b   , the supply of the pressurized gas to the plurality of balance beams  1052  is stopped and also the supply of the vacuum suction force to alignment pad  1078  is stopped. Further, alignment pad  1078  is driven downward so as to move apart from the lower surface of substrate P 2 . Accordingly, substrate P 2  is placed onto the plurality of balance beams  1052 . In this state, beam unit  1050  is driven toward the −X direction (toward the substrate stage device  1020  side). On this operation, substrate P 2  and the plurality of balance beams are positioned so that the +X side ends do not overlap with coupling member  1062   b  of substrate carry-in hand  1062  in the X-axis direction (do not overlap in the vertical direction). 
     In this state, as illustrated in  FIGS. 36 a  and 36 b   , substrate carry-in hand  1062  is driven upward. Accordingly, substrate P 2  on the plurality of balance beams  1052  is scooped out from below to above, by substrate carry-in hand  1062  (delivered to substrate carry-in hand  1062 ). 
     Further, in parallel with the foregoing delivery operation of substrate P 2  from external carrier device  1100  to substrate carry-in hand  1062  via beam unit  1050  (including the pre-alignment operation), substrate table  1024  is driven toward the +X direction so that substrate holder  1028  on which the exposed substrate P 1  is placed is located at a predetermined substrate exchange position (a substrate delivery position) in substrate stage device  1020 . In the present embodiment, the substrate exchange position is a position on the −X side of the port section. Note that, although substrate holder  1028  is illustrated to be at the same position in  FIGS. 31 a  to 35 b    in order to facilitate the understanding, actually the exposure operation with respect to substrate P 1  is performed in parallel with the foregoing delivery operation of substrate P 2  from external carrier device  1100  to substrate carry-in hand  1062 , and substrate holder  1028  is being moved within the XY plane. 
     Further, in parallel with the movement operation of substrate holder  1028  to the substrate exchange position, the respective holding pads  1084   a  of the pair of substrate carry-out bearer devices  1082   a  disposed on the +X side of substrate holder  1028  are driven upward. Holding pads  1084   a  adsorb and grip, from the back surface, a part (portions placed on cutouts  1028   a  (see  FIGS. 29 a  and 29 b   )) of substrate P 1  held by vacuum adsorption on the upper surface of substrate holder  1028 . 
     After that, as illustrated in  FIGS. 37 a  and 37 b   , substrate carry-in hand  1062  supporting substrate P 2  from below is driven toward the −X direction. Accordingly, substrate P 2  is carried toward a space above substrate holder  1028  positioned at the substrate exchange position. Further, in substrate exchange device  1040 , beam unit  1050  is driven toward the −X direction (a direction for coming close to substrate holder  1028 ). Beam unit  1050  is stopped at a predetermined position so that the −X side end of each of the plurality of balance beams  1052  and substrate holder  1028  do not come into contact with each other. As is described above, the Z-position of the upper surface of each of the plurality of balance beams  1052  and the Z-position of the upper surface of substrate holder  1028  are set to be almost the same height. 
     Further, in substrate stage device  1020 , the pressurized gas is jetted from the upper surface of substrate holder  1028  to the lower surface of substrate P 1 . Accordingly, substrate P 1  is levitated from the upper surface of substrate holder  1028 , and the friction between the lower surface of substrate P 1  and the upper surface of substrate holder  1028  is reduced to the level that can be ignored (the low friction state). 
     Moreover, in substrate stage device  1020 , holding pads  1084   a  of substrate carry-out bearer devices  1082   a  are slightly driven upward toward the +Z direction so as to follow the foregoing levitation operation of substrate P 1 , and are also driven with a predetermined stroke toward the +X direction (toward the port section side) in a state of adsorbing and gripping the part of substrate P 1 . Although the movement amount of holding pads  1084   a  (i.e. substrate P 1 ) also varies depending on the size of substrate P 1 , the movement amount is set to, for example, about 50 mm to 100 mm. Accordingly, the +X side end vicinity part of substrate P 1  protrudes (overhangs) from the +X side end of substrate holder  1028  toward the +X direction (toward the port section side). Here, the foregoing portion of substrate P 1  protruding from substrate holder  1028  is supported from below by the −X side end vicinity parts of the plurality of balance beams  1052 , and therefore it is favorable that the pressurized gas is jetted beforehand also from balance beams  1052  when causing substrate P 1  to overhang from substrate holder  1028 . 
     As illustrated in  FIGS. 38 a  and 38 b   , substrate carry-in hand  1062  supporting substrate P 2  from below is stopped at a predetermined position in a space above substrate holder  1028 . At this stop position, substrate P 2  is located almost directly above substrate holder  1028  positioned at the substrate exchange position. Further, substrate stage device  1020  performs the positioning of substrate holder  1028  so that the Y-position of substrate P 1  and the Y-position of substrate P 2  almost coincide with each other. In contrast, the X-position of substrate P 1  and the X-position of substrate P 2  are different at the stop position described above by the quantity overhanging from substrate holder  1028  of the +X side end vicinity part of substrate P 1 , and the −X side end of substrate P 2  protrudes toward the −X side further than the −X side end of substrate P 1 . 
     In parallel with the positioning of substrate carry-in hand  1062 , substrate carry-out hand  1072  is driven toward the −X direction and is positioned below the portion of substrate P 1  overhanging from substrate holder  1028  toward the +X side, in substrate carry-out device  1070 . Furthermore, in substrate stage device  1020 , the respective holding pads  1084   b  of the pair of substrate carry-in bearer devices  1082   b  are driven upward with a predetermined stroke (e.g. about 50 mm to 100 mm). 
     As illustrated in  FIGS. 39 a  and 39 b   , holding pads  1084   b  of substrate carry-in bearer devices  1082   b  come into contact, from below, with substrate P 2  on substrate carry-in hand  1062  that stands by above substrate holder  1028 , and adsorb and hold the −X side end vicinity part of substrate P 2 . 
     Further, in parallel with the adsorbing and holding operation of substrate P 2  by holding pads  1084   b , in substrate carry-out device  1070 , substrate carry-out hand  1072  is driven upward, and grips by vacuum adsorption the portion, overhanging from substrate holder  1028  toward the +X side, of the exposed substrate P 1 , from the back surface. And, when substrate carry-out hand  1072  adsorbs and grips substrate P 1 , the supply of the vacuum suction force to the respective holding pads  1084   a  of the pair of substrate carry-out bearer devices  1082   a  is stopped. Accordingly, the gripping by adsorption of substrate P 1  by holding pads  1084   a  is released. Holding pads  1084   a  are driven downward so as to move apart from the back surface of substrate P 1 . 
     Note that, in the present embodiment, in order for substrate carry-out hand  1072  to adsorb and grip the center part of the +X side end vicinity part of the exposed substrate P 1  from the back surface, substrate P 1  is caused to overhang (be offset) from substrate holder  1028  using substrate carry-out bearer devices  1082   a , but this is not intended to be limiting. Substrate carry-out hand  1072  may adsorb and grip substrate P 1  without causing substrate P 1  to be offset, by forming a cutout open toward the +Z side and the +X side, at the +X side end vicinity part of the upper surface of substrate holder  1028 , and by inserting substrate carry-out hand  1072  into the cutout. 
     After that, as illustrated in  FIGS. 40 a  and 40 b   , substrate carry-out hand  1072  is driven toward the +X direction in a state of holding substrate P 1 . Accordingly, substrate P 1  is moved from substrate holder  1028  onto beam unit  1050  (the plurality of balance beams  1052 ). On this operation, the pressurized gas is jetted from the upper surface of each of the plurality of balance beams  1052 . Accordingly, substrate P 1  is levitated and carried in a noncontact state on substrate holder  1028  and beam unit  1050  (except for the portion held by substrate carry-out hand  1072 ). Further, holding pads  1084   a  of the pair of substrate carry-out bearer devices  1082   a  are driven toward the −X direction so that the respective parts of holding pads  1084   a  are accommodated in cutouts  1028   a  of substrate holder  1028  (see  FIGS. 29 a  and 29 b   ). 
     Further, in parallel with the foregoing carry-out operation of substrate P 1  from substrate holder  1028  by substrate carry-out hand  1072 , supporting pads  1062   c  of substrate carry-in hand  1062  jet the pressurized gas to the lower surface of substrate P 2 , in substrate carry-in device  1060 . Accordingly, substrate P 2  comes into a levitated (or semi-levitated) state on substrate carry-in hand  1062 . 
       FIGS. 41 a  and 41 b    show a state where substrate P 1  has been completely carried out (delivered) from substrate holder  1028  onto beam unit  1050  by substrate carry-out hand  1072 . Here, even after substrate P 1  has been carried out from substrate holder  1028 , substrate holder  1028  continues to jet the pressurized gas. 
     In parallel with this carry-out operation of substrate P 1 , substrate carry-in hand  1062  is driven toward the +X direction at high speed and high acceleration (e.g. 1G or more) and is withdrawn from below substrate P 2 , in substrate carry-in device  1060 . When substrate carry-in hand  1062  is withdrawn from below substrate P 2 , substrate P 2  is left above substrate holder  1028  because the −X side end vicinity part of substrate P 2  is adsorbed and gripped by a pair of holding pads  1084   b.    
     Here, since substrate carry-in bearer devices  1082   b  are disposed, spaced apart in the Y-axis direction and adsorb and hold the two points, spaced apart in the Y-axis direction, of the −X side end of substrate P, it can be said that the movement direction at the time of withdrawn of substrate carry-in hand  1062  is a direction opposed to substrate carry-in bearer devices  1082   b . The “direction opposed to substrate carry-in bearer devices  1082   b ” roughly means a direction on an opposite side (which is the +X side in this case) to the end (on the −X side in this case) of substrate P adsorbed and held by substrate carry-in bearer devices  1082   b.    
     Then, as illustrated in  FIGS. 42 a  and 42 b   , when substrate carry-in hand  1062  has been completely withdrawn from below substrate P 2 , substrate P 2  starts free fall due to the gravity (the self-weight) except for the portions adsorbed and gripped by holding pads  1084   b . On this free-fall, sudden drop of substrate P 2  is hindered by air resistance between the back surface of substrate P 2  and the upper surface of substrate holder  1028 , and therefore, substrate P 2  falls onto substrate holder  1028  slowly (with an acceleration smaller than the gravitational acceleration). Further, in parallel with the falling operation of substrate P 2 , also the respective holding pads  1084   b  of the pair of substrate carry-in bearer devices  1082   b  simultaneously descend (are moved toward the −Z direction). 
     The means of lowering holding pads  1084   b  is not particularly limited, and for example, position control in the Z-axis direction may be performed using a drive device such as a motor, or burden control in the Z-axis direction (e.g., control that causes a force of raising holding pads  1084   b  (a force toward the +Z direction) against the gravity force to be smaller than a downward force (a force toward the −Z direction) due to the self-weight of substrate P) may be performed using an air cylinder or the like. Further, holding pads  1084   b  are caused to fall freely together with substrate P 2 , by releasing (nulling) a force toward the +Z direction acting on holding pads  1084   b  of substrate carry-in bearer devices  1082   b  after adsorbing and gripping the back surface of substrate P 2 . 
     In parallel with the foregoing carry-in operation of substrate P 2  using substrate carry-in bearer devices  1082   b , each of the plurality of balance beams  1052  stops the jet of the pressurized gas. Further, substrate carry-out device  1070  releases the holding by adsorption of substrate P 1  with substrate carry-out hand  1072  (not illustrated in  FIG. 42 a   ), and also drives substrate carry-out hand  1072  downward to move apart from the back surface of substrate P 1 . Accordingly, substrate P 1  is placed on the plurality of balance beams  1052 . Also after delivering substrate P 2  to substrate holder  1028 , substrate carry-in hand  1062  is driven toward the +X direction (the substrate carry-in hand may be decelerated after being withdrawn from below substrate P 1 ). 
     Note that, on the foregoing carry-in operation (free fall) of substrate P 2  to substrate holder  1028 , as illustrated in  FIG. 48 , a frame-shaped member  1029  (or a control wall) that surrounds the outer periphery of substrate holder  1028  and has the height position (the position in the Z-axis direction) set higher than the upper surface of substrate holder  1028  may be disposed, thereby preventing air between substrate P 2  and substrate holder  1028  from easily escaping (thereby forming air stagnation) and adjusting the falling velocity of substrate P 2 . Note that the generation of the foregoing air stagnation may be positively controlled by controlling the jet of the air from the upper surface of substrate holder  1028  and the suction of the air. 
       FIGS. 43 a  and 43 b    show a state where the respective holding pads  1084   b  of the pair of substrate carry-in bearer devices  1082   b  descend, and the parts thereof are inserted in cutouts  1028   b  (see  FIG. 29 a   ) of substrate holder  1028 . Here, substrate P 2  (except for the portions gripped by holding pads  1084   b ) naturally falls due to the self-weight onto substrate holder  1028 , but the pressurized gas is jetted from the upper surface of substrate holder  1028  and the back surface of substrate P 2  that has descended does not come into contact with the upper surface of substrate holder  1028  by the static pressure of the pressurized gas. Accordingly, a state where substrate P 2  is levitated above substrate holder  1028  via a minute gap is kept. 
     In this state, the position of substrate P 2  relative to substrate stage device  1020  (or substrate holder  1028 ) is measured by a substrate position measurement device (not illustrated) provided at substrate stage device  1020  (substrate holder  1028  or substrate table  1024 ) or provided external to substrate stage device  1020 . On the basis of the measurement result, the respective holding pads  1084   b  of the pair of substrate carry-in bearer devices  1082   b  are independently driven in the X-axis direction. Accordingly, the position of substrate P 2  relative to substrate stage device  1020  (or substrate holder  1028 ) in the X-axis direction and the θz direction is corrected. 
     In parallel with the foregoing position correction operation (the fine alignment operation) of substrate P 2 , beam unit  1050  on which substrate P 1  is placed is driven toward the +X direction and also alignment pad  1078  of substrate carry-out device  1070  is driven toward the −X direction to be positioned at a position facing the center of substrate P 1 , in the port section. 
     After that, as illustrated in  FIGS. 44 a  and 44 b   , the jet of the pressurized gas from substrate holder  1028  is stopped and substrate P 2  lands on (comes into contact with) the upper surface of substrate holder  1028 . In this manner, in the present embodiment, the accurate positioning (the fine alignment) of substrate P 2  is performed in a low friction (levitated) state immediately before landing substrate P 2  on substrate holder  1028 , and therefore, it is not necessary to take into account the falling (landing) position and/or the attitude of substrate P 2  when substrate P 2  falls, and in addition, there is no risk that it becomes necessary to perform the re-placement (re-loading) of substrate P 2  after the landing of substrate P 2 . 
     Further, since the falling operation of substrate P 2  is tentatively stopped at a position in a space above substrate holder  1028  with a minute gap (e.g., of several tens micrometers to several hundreds micrometers) formed between substrate P 2  and substrate holder  1028 , local air stagnation is prevented from generating between substrate P 2  and substrate holder  1028 . Consequently, when causing substrate holder  1028  to hold substrate P 2 , the deformation of substrate P 2  can be suppressed. Note that, when substrate P 2  is placed onto substrate holder  1028 , the deformation of substrate P 2  may be suppressed by controlling the location or the time of stopping the jet of the pressurized gas from substrate holder  1028 , and further by using together the vacuum suction of substrate P 2  from substrate holder  1028 . 
     Note that, in substrate carry-in bearer devices  1082   b , holding pads  1084   b  may be configured finely drivable in the Y-axis direction so that the positioning (the fine alignment) in the Y-axis direction of substrate P 2 , serving as a carry-in target, relative to substrate holder  1028  can be performed. Further, in the present embodiment, holding pads  1084   b  are configured to be driven only in the X-direction within the horizontal plane. However, actually, holding pads  1084   b  are finely displaceable in the θz direction and the Y-axis direction relative to the support column of Z actuator  1086   z  (see  FIG. 29 b   ) by an elastic deformation or the like, though not illustrated, so that substrate P 2  is finely rotatable in the θz direction. 
     In substrate stage device  1020 , when substrate P 2  is placed onto substrate holder  1028 , substrate holder  1028  adsorbs and holds substrate P 2  and moves to a predetermined exposure starting position. The description of operations of substrate stage device  1020  at the time of exposure operations with respect to substrate P 2  will be omitted. 
     Further, in parallel with the foregoing adsorbing and holding operation of substrate P 2  by substrate holder  1028 , alignment pad  1078  is driven upward, and adsorbs and grips the center part of the back surface of substrate P 1  from below, in substrate carry-out device  1070 . Further, when alignment pad  1078  adsorbs and grips substrate P 1 , the pressurized gas is jetted from each of the plurality of balance beams  1052 , and accordingly substrate P 1  is levitated on the plurality of balance beams  1052 . After that, substrate P 1  is moved to the substrate exchange position with respect to external carrier device  1100  by driving alignment pad  1078  toward the +X direction. At this time, the position within the horizontal plane (the position in the X-axis direction and the Y-axis direction and the attitude in the θz direction) of substrate P 1  may be corrected by alignment pad  1078 , at a predetermined location. 
       FIGS. 45 a  and 45 b    show a state where substrate P 1  is positioned at the substrate exchange position with respect to external carrier device  1100 . At the substrate exchange position, alignment pad  1078  of substrate carry-out device  1070  releases the holding by adsorption of substrate P 1 , and is driven downward so as to move apart from substrate P 1 . 
     After that, the robot hand of external carrier device  1100  is moved toward the −X direction at the height position lower than the upper surfaces of the plurality of balance beams  1052 , and ascends to scoop out substrate P 1  from below, on the plurality of balance beams  1052 . The plurality of balance beams  1052  stop the jet of the pressurized gas. 
     As illustrated in  FIGS. 46 a  and 46 b   , the robot hand of external carrier device  1100  holding the exposed substrate P 1  is moved toward the +X direction to leave the port section. 
     In the port section, in order to avoid the contact with substrate carry-in hand  1062 , beam unit  1050  (the plurality of balance beams  1052 ) is moved toward the −X direction, and then substrate carry-in hand  1062  is driven downward. 
     After the exposed substrate P 1  is delivered to an external device (not illustrated) such as, for example, a coater/developer, the robot hand of external carrier device  1100  holding substrate P 3  to be exposed next to substrate P 2  is moved toward the port section, as illustrated in  FIGS. 47 a  and 47 b   . Further, in the port section, substrate carry-in hand  1062  is moved to a position lower than the plurality of balance beams  1052 , and the plurality of balance beams  1052  are moved toward the +X direction and are positioned at the substrate receipt position for receiving substrate P 3  from the robot hand of external carrier device  1100 . Accordingly, the state returns to the initial state as shown in  FIGS. 31 a    and  31   b.    
     According to the present embodiment described so far, substrate P is carried in onto substrate stage device  1020  by causing substrate P serving as a carry-in target to freely fall, and therefore the apparatus configuration is simple, compared to the case of using, for example, a device (e.g. a lift pin device or the like) for receiving substrate P from substrate carry-in device  1060 . Further, since the operations of movable members at the time of substrate delivery operations from substrate carry-in device  1060  to substrate holder  1028  are fewer, it becomes possible to swiftly perform the carry-in of substrate P. In addition, since the dust generation can be suppressed, compared to the case of, for example, using the lift pin device or the like, the adhesion of dust to substrate P can be suppressed. 
     Further, in substrate stage device  1020 , a device such as, for example, the lift pin device used to receive substrate P from substrate carry-in device  1060 , or a hole section (or a recessed section) for accommodating a member (such as a so-called substrate tray) on which substrate P is placed at the time of carrying substrate P do not have to be formed at substrate holder  1028 . Consequently, almost the entire surface of the upper surface of substrate holder  1028  can be flattened except for minute hole sections for jetting gas and suctioning gas. Accordingly, the flatness correction of substrate P placed on substrate holder  1028  can be reliably performed, and the exposure accuracy is improved. Further, since the hole section or the recessed section does not have to be formed on substrate holder  1028 , the change in reflectivity and in reflection quantity of exposure beams caused by the hole section or the recessed section can be suppressed. Consequently, uneven transfer of the mask pattern with respect to substrate P can be suppressed. 
     Further, when substrate P serving as a carry-in target is fallen freely, the position of substrate P within the horizontal plane is restrained by the pair of substrate carry-in bearer devices  1082   b  provided separately from substrate carry-in device  1060  that supported substrate P at the time of substrate carry-in, and therefore, the positional shift of substrate P within the horizontal plane due to influence of air resistance at the time of free fall can be suppressed. Consequently, substrate P can be fallen onto substrate holder  1028  without fail. 
     Further, before substrate P is placed onto substrate holder  1028 , the free fall of substrate P is stopped once, and therefore, the generation of the so-called air stagnation between substrate P and substrate holder  1028  and the deformation of substrate P caused by the air stagnation can be suppressed when substrate holder  1028  is made to adsorb and hold substrate P. In addition, when substrate P is fallen onto substrate holder  1028 , substrate holder  1028  functions like an air bearing, and therefore the impact at the time of falling can be suppressed. 
     Further, before substrate P is placed onto substrate holder  1028 , the positioning of the substrate with respect to substrate holder  1028  is performed by the pair of substrate carry-in bearer devices  1082   b , and therefore, the possibility can be reduced that it becomes necessary (e.g., due to the shift of the placement position) to perform the re-placement (re-loading) of substrate P once placed on substrate holder  1028 . Consequently, the carry-in operation speed of substrate P is improved, and the overall throughput is improved. 
     Further, in recent years, the thickness and the weight of substrate P have tended to be reduced. When substrate P is made thinner and lighter in weight, a downward force in the gravity direction acting on substrate P is decreased, and therefore, the impact applied when substrate P is freely fallen by the self-weight and delivered to substrate holder  1028  can be reduced. In this manner, substrate exchange device  1040  related to the present embodiment is particularly suitable for the exchange of a large size substrate P that is made thinner and lighter in weight. Note that, in the present embodiment, the sudden drop of substrate P is suppressed by air resistance acting on substrate P at the time of falling, and thus the impact applied when substrate P is placed onto substrate holder  1028  is suppressed, and therefore it is preferable that the upper surface of substrate holder  1028  has a lot of flat areas on which any recessed sections, hole sections and the like are not formed. 
     Note that the configuration of the third embodiment described above can be changed as needed. For example, in the third embodiment described above, as illustrated in  FIG. 29 a   , cutouts  1028   a  are formed on the +X side of substrate holder  1028  and the parts of holding pads  1084   a  of substrate carry-out bearer devices  1082   a  are accommodated in cutouts  1028   a . However, the configuration is not limited thereto, and for example, substrate carry-out bearer devices  1082   a  may be omitted, and the pair of substrate carry-in bearer devices  1082   b  disposed on the −X side of substrate holder  1028  may assist the substrate carry-out operation. 
     That is, in the exchange operations of substrate P on substrate holder  1028  related to a present modified example, first of all, substrate carry-in bearer devices  1082   b  grip substrate P and move substrate P toward the +X direction in a noncontact manner on substrate holder  1028 , and causes substrate P to be offset (overhang) from substrate holder  1028  (see  FIGS. 37 a  and 37 b   ), then the jet of the pressurized gas from substrate holder  1028  is stopped, and substrate P is placed onto substrate holder  1028  again. Substrate carry-in bearer devices  1082   b  release the adsorption of substrate P and slightly descend, and are again moved toward the −X direction, and then ascend high and adsorb and grip a new substrate P, from below, that stands by in a space above substrate holder  1028 . In substrate carry-out device  1070 , substrate carry-out hand  1072  adsorbs and grips the end vicinity part of substrate P, from below, placed and offset on substrate holder  1028  (see  FIGS. 38 a  and 38 b   ). After that, the pressurized gas is jetted from substrate holder  1028  and balance beams  1052 , and substrate P except for the portion gripped by substrate carry-out hand  1072  is carried out to the port section in a noncontact state. In this manner, according to the present modified example, since substrate carry-out bearer devices  1082   a  are omitted (an assist device for substrate carry-in and an assist device for substrate carry-out are made common), the structure becomes simple and the cost can be reduced. 
     Further, alignment pad  1078  may be capable of rotating substrate P in the θz direction, for example, at a 90 degree angle. In this case, in the port section, the orientation of substrate P can be changed (the longitudinal direction can be parallel to the X-axis or the Y-axis) using alignment pad  1078 , and therefore, for example, substrate P that is carried, in a state where the longitudinal direction is parallel to the X-axis (the laterally long state), from external carrier device  1100 , can be rotated at, for example, a 90 degree angle to come into a state where the longitudinal direction is parallel to the Y-axis (a longitudinally long state). Consequently, when substrate P is carried into substrate stage device  1020 , carrying in substrate P in the laterally long state or carrying in substrate P in the longitudinally long state can be arbitrarily selected. Also, substrate P carried in the longitudinally long state to the port section by external carrier device  1100  can be rotated at, for example, a 90 degree angle to come into the laterally long state in the port section. In this case, the finger sections of the robot hand of external carrier device  1100  can be shortened. 
     Further, in the third embodiment described above, the two points disposed spaced apart in the Y-axis direction of substrate P are held using the respective holding pads  1084   b  of the pair of substrate carry-in bearer devices  1082   b  disposed spaced apart in the Y-axis direction, but the held points of substrate P are not limited thereto and, for example, one point of substrate P may be held by one holding pad  1084   b . In this case, in order to secure the contact area between holding pad  1084   b  and substrate P, the holding surface of holding pad  1084   b  should be formed into a shape extending in the Y-axis direction. 
     Further, although substrate carry-in bearer devices  1082   b  are configured to restrain (hold) the −X direction side end of substrate P in the third embodiment described above, the restrained (held) part is not limited thereto. For example, substrate carry-in bearer devices  1082   b  may be configured to restrain (hold) the +Y direction side end and/or the −Y direction side end of substrate P, or the corner between the −X direction side end and the +Y direction side end and/or the corner between the −X direction side end and the −Y direction side end. The point (the location) of substrate P restrained by substrate carry-in bearer devices  1082   b  may be any one of the ends described above or the corners described above, or any combination thereof, as far as the part (the location) can be set so as not to obstruct the operations of substrate carry-out bearer devices  1082   a , substrate carry-out device  1070  and substrate carry-in device  1060 . 
     Further, although the respective holding pads  1084   b  of the pair of substrate carry-in bearer devices  1082   b  are accommodated in the corresponding cutouts  1028   b  in the third embodiment described above, this is not intended to be limiting, and for example, holding pads  1084   b  may adsorb and hold a portion, sticking out from the end vicinity part of substrate holder  1028 , of substrate P beforehand. In this case, cutouts  1028   b  need not be formed at substrate holder  1028 . Note that, since an area of the sticking-out portion referred to above is small, the holding surface of holding pad  1084   b  should be formed into a shape extending in the Y-axis direction in order to secure the contact area between holding pad  1084   b  and substrate P. Further, when substrate P is placed onto the upper surface of substrate holder  1028 , holding pads  1084   b  may be inserted between the back surface of substrate P and the upper surface of substrate holder  1028 , and then holding pads  1084   b  may pulled out. In this case as well, cutouts  1028   b  need not be formed at substrate holder  1028 . On this operation, it is favorable that a part of substrate P is adsorbed and held beforehand to prevent substrate P from being moved when holding pad  1084   b  is pulled out. 
     Although in the third embodiment described above, substrate P serving as a carry-out target is made into an offset state (a state where a part of substrate P protrudes from substrate holder  1028 ) by substrate carry-out bearer devices  1082   a , this is not intended to be limiting, and substrate holder  1028  may be tilted around the Y-axis to incline the upper surface of substrate holder  1028 , and substrate P may be made into the offset state by the self-weight. Further, substrate carry-out device  1070  holds the offset end vicinity part of substrate P and carries out substrate P, but substrate carry-out device  1070  may adsorb and hold the portion sticking out from the end vicinity part of substrate holder  1028  beforehand. Further, the operation of causing substrate P to be into the offset state by substrate carry-out bearer devices  1082   a  may be performed in the midst of substrate holder  1028  moving toward the substrate exchange position (in parallel with the movement of substrate holder  1028 ). 
     Further, in the third embodiment described above, substrate carry-in device  1060  carries substrate P using substrate carry-in hand  1062  that supports substrate P from below in the gravity direction. The configuration of a carrier device for carry-in is not limited thereto, however, as far as the free fall of substrate P at the time of carriage can be prevented, and substrate P may be carried while being supported in a suspended manner from above in the gravity direction, for example, using a Bernoulli chuck known to public or the like. In this case, it is possible to cause substrate P to fall due to the self-weight, by releasing the support in a suspended manner of substrate P by the Bernoulli chuck. 
     Note that, also in the case of using this Bernoulli chuck method, a certain carrier assist mechanism is needed that takes place of substrate carry-in bearer devices  1082   b  in the embodiment described above, in order to restrain the position of substrate P within the XY plane in a space above substrate holder  1028 . As this carrier assist mechanism, for example, a wall member for physically restricting the side surface of substrate P may be configured on the periphery of the Bernoulli chuck. Alternatively, a mechanism that blows air for position restraint within the XY plane against the side surface of substrate P may be provided at the Bernoulli chuck. 
     Further, in the operation sequences at the time of substrate exchange in the third embodiment described above, the description has been made assuming that after the driving of substrate carry-out hand  1072  toward the +X direction (a carry-out operation of substrate P 1  from substrate holder  1028  by substrate carry-out hand  1072 , which is referred to as a “pulling-out operation” of substrate carry-out hand  1072 ) is started, the driving of substrate carry-in hand  1062  toward the +X direction (a withdrawal operation from below substrate P 2  of substrate carry-in hand  1062 , in other words, a carry-in operation of substrate P 2  to substrate holder  1028  by substrate carry-in hand  1062 , which is referred to as “pulling-out operation” of substrate carry-in hand  1062 ) is started, as illustrated in  FIGS. 40 to 42 . However, the timing for these pulling-out operations is not limited thereto. As far as the operation timing is controlled so that substrate P 2  that falls due to the self-weight entailed by the foregoing pulling-out operation of substrate carry-in hand  1062  does not come into contact with both hands  1062  and  1072  and substrate P 1 , either one of the foregoing puling-out operation of hand  1062  and the foregoing puling-out operation of hand  1072  may be started first or the puling-out operations of both hands  1062  and  1072  may be started simultaneously. 
     Further, although in the third embodiment described above, substrate holder  1028  is configured to adsorb and hold substrate P, the configuration is not limited thereto, and for example, the substrate holder may hold substrate P in a noncontact state. 
     Further, although in the third embodiment described above, substrate carry-in bearer devices  1082   b  for restraining the position of substrate P within the XY plane in a space above substrate holder  1028  are equipped in substrate holder  1028  (substrate stage device  1020 ), this is not intended to be limiting, and for example, substrate carry-in device  1060  may have substrate carry-in bearer devices  82   b . Alternatively, above the substrate exchange position, for example, substrate carry-in bearer devices  1082   b  may be supported in a suspended manner by a frame member that configures a chamber for accommodating substrate stage device  1020  and the like. 
     Further, although in the third embodiment described above, after the robot hand of external carrier device  1100  delivers substrate P serving as a carry-in target to the port section, substrate carry-in device  1060  carries substrate P to a space above substrate holder  1028 . However, this is not intended to be limiting, and the robot hand of external carrier device  1100  carries substrate P serving as a carry-in target to a space above substrate holder  1028  and delivers substrate P directly to substrate carry-in bearer devices  1082   b.    
     Fourth Embodiment 
     Next, a liquid crystal exposure apparatus related to a fourth embodiment will be described using  FIGS. 49 a  to 56 b   . In the present fourth embodiment, in the exchange operations of substrates in a liquid crystal exposure apparatus having a substrate stage device with a configuration similar to substrate stage device  20  (see the drawings such as  FIG. 2 ) related to the first embodiment described above, a substrate exchange device with a configuration similar to substrate exchange device  1040  (see the drawings such as  FIG. 27 ) in the third embodiment described above is used. In the description below of the present fourth embodiment, elements that have the same configurations and functions as those in the first embodiment or the third embodiment described above will be provided with the same reference signs as those in the first embodiment or the third embodiment described above, and the description thereof will be omitted. 
     As illustrated in  FIGS. 49 a  and 49 b   , substrate stage device  20  is equipped with coarse movement stage  24 , weight cancelling device  26 , X guide bar  28 , substrate table  30 , noncontact holder  32 , a pair of auxiliary tables  34 , a substrate carrier  40  and the like (refer to the first embodiment described above for the details of each element). Substrate carrier  40  adsorbs and holds the four corner vicinity parts of substrate P 1  supported in a noncontact manner by noncontact holder  32 . 
     Further, substrate exchange device  1040  has beam unit  1050 , substrate carry-in device  1060 , substrate carry-out device  1070  (alignment pad  1078  is omitted) and substrate assist device  1080  (refer to the third embodiment described above for the details of each element). Substrate P 2  to be exposed next to substrate P 1  is placed on the robot hand of external carrier device  1100 . Of a pair of Y frames  42   y  configuring substrate carrier  40 , the Z-position of Y frame  42   y  on the +X side is disposed at a position lower than the Z-position of the lower surface of substrate P 1  (see the drawings such as  FIG. 3 ). 
     Although, in substrate stage device  20  of the present fourth embodiment, a pair of substrate carry-out bearer devices  1082   a  and a pair of substrate carry-in bearer devices  1082   b  that configure substrate assist device  1080  are attached to coarse movement stage  24  (the same reference signs are used for the sake of convenience), the pair of substrate carry-out bearer devices  1082   a  and the pair of substrate carry-in bearer devices  1082   b  may be attached to substrate table  30  (or noncontact holder  32 ), similarly to the third embodiment described above. 
     The exchange operations of substrate P in the present fourth embodiment are generally the same as those in the third embodiment described above. The exchange operations will be briefly described below. In  FIGS. 50 a  and 50 b   , the robot hand of external carrier device  1100  carries substrate P 2  to above beam unit  1050  of the port section. Subsequently, as illustrated in  FIGS. 51 a  and 51 b   , the robot hand of external carrier device  1100  places (delivers) substrate P 2  to beam unit  1050 . Subsequently, as illustrated in  FIGS. 52 a  and 52 b   , after beam unit  1050  supporting substrate P 2  is moved toward the −X direction, substrate carry-in hand  1062  of substrate carry-in deice  1060  ascends, and scoops out P 2  on beam unit  1050 . Further, in parallel with this operation, in substrate stage device  20 , substrate carry-out bearer devices  1082   a  move the exposed substrate P 1  (cause the exposed substrate P 1  to be offset), by a predetermined amount toward the +X direction with respect to noncontact holder  32 . 
     Subsequently, as illustrated in  FIGS. 53 a  and 53 b   , substrate carry-in hand  1062  holding substrate P 2  starts to move toward a space above the substrate exchange position (toward the −X direction). In parallel with this operation, in substrate carry-out device  1070 , substrate carry-out hand  1072  is moved toward the −X direction, and also in the substrate stage device  20 , noncontact holder  32 , substrate carrier  40  and the like are moved toward substrate exchange position (toward the +X direction). Subsequently, as illustrated in  FIGS. 54 a  and 54 b   , substrate carry-in hand  1062  is stopped in a space above the substrate exchange position. Then, in substrate stage device  20 , substrate carry-in bearer devices  1082   b  perform an ascending operation. Further, in parallel with each of the foregoing operations, in substrate carry-out device  1070 , substrate carry-out hand  1072  grips (adsorbs and holds) the +X side end vicinity part of substrate P 1 , from below, that is offset with respect to noncontact holder  32 . 
     Subsequently, as illustrated in  FIGS. 55 a  and 55 b   , substrate carry-out hand  1072  is moved toward the +X direction and pulls out the exposed substrate P 1  toward the port section. Further, substrate carry-in bearer devices  1082   b  grip (adsorb and hold) the −X side end vicinity part of substrate P 2 , from below, on substrate carry-in hand  1062 . When substrate P 2  is held by substrate carry-in bearer devices  1082   b , substrate carry-in hand  1062  is withdrawn toward the +X direction leaving substrate P 2  in a space above noncontact holder  32 . In other words, when substrate P 2  is held by substrate carry-in bearer devices  1082   b , substrate carry-in hand  1062  releases the holding of substrate P 2 . 
     Subsequently, as illustrated in  FIGS. 56 a  and 56 b   , substrate carry-out hand  1072  releases the exposed substrate P 1  and descends. Further, substrate carry-in hand  1062  has been completely withdrawn from a space above substrate stage device  20 . In parallel with each of the foregoing operations, substrate carry-in bearer devices  1082   b  are lowered in a state of holding the new substrate P 2 , and then correct (perform pre-alignment of) the position of the substrate P 2  and give the substrate P 2  to adsorption pads  44  (see  FIG. 3 ) of substrate carrier  40 . Substrate carry-in bearer devices  1082   b  may descend while holding the substrate P 2 , thereby causing substrate P 2  to be supported by noncontact holder  32 , and correcting (performing pre-alignment of) the position of the substrate P 2  in this state, and then may give the substrate P 2  to adsorption pads  44  (see  FIG. 3 ) of substrate carrier  40 . 
     Here, as illustrated in  FIGS. 87 a  and 87 b   , the Z-positions of holding pads  1084   b  are set in advance so that substrate P is delivered from holding pads  1084   b  to adsorption pads  44  within a range where substrate P can be levitated from noncontact holder  32  (can be spaced apart from the upper surface of noncontact holder  32 ) in the Z-axis direction. Substrate P may be delivered from holding pads  1084   b  to adsorption pads  44  in a state where substrate P is levitated in the Z-axis direction by air supplied from noncontact holder  32 , or the delivery of substrate P may be performed in a state where substrate P is levitated above noncontact holder  32  not by air supplied from noncontact holder  32 , but by air intervening between the lower surface of substrate P and the upper surface of noncontact holder  32 , i.e., by air stagnation. Note that substrate P only has to be levitated, and therefore in the case of levitating substrate P by the air stagnation, an adsorption type holder may be used, not noncontact holder  32 . Note that the levitation of substrate P above noncontact holder  32  by air intervening between the lower surface of substrate P and the upper surface of noncontact holder  32 , which is the so-called air stagnation, is applicable not only to the present embodiment but also to all the embodiments including those described earlier and to be described later. In the present embodiment, since a configuration, in which substrate P is delivered from holding pads  1084   b  to adsorption pads  44  by holding pads  1084   b  being lowered, is employed, the upper surfaces of holding pads  1084   b  are disposed on the further +Z side than the upper surface of noncontact holder  32 . Accordingly, when holding pads  1084   b  holding substrate P are moved toward the −Z direction, the lower surface of substrate P comes into contact with adsorption pads  44 , and a member to support substrate P from below is automatically switched from holding pads  1084   b  to adsorption pads  44  while maintaining the levitated state of substrate P from noncontact holder  32 . In order to deliver substrate P from holding pads  1084   b  to adsorption pads  44 , the points of substrate P held by adsorption pads  44  and the points of substrate P held by holding pads  1084   b  are different from each other. Note that holding pads  1084   b  holding substrate P may stop suctioning air at the lower surface of substrate P in order to release the adsorption of substrate P by holding pads  1084   b , when delivering substrate P to adsorption pads  44 . Moreover, the adsorption of substrate P by holding pads  1084   b  may be positively released by supplying air to the lower surface of substrate P from holding pads  1084   b . Further, a little before the lower surface of substrate P comes into contact with adsorption pads  44 , namely, before substrate P is delivered from holding pads  1084   b  to adsorption pads  44 , air may be supplied from adsorption pads  44  to the lower surface of substrate P thereby to cushion the impact when the adsorption pads  44  and substrate P come into contact with each other, so that the breakage of substrate P may be suppressed. 
     Note that the operations performed when holding pads  1084   b  of substrate carry-in bearer devices  1082   b  deliver substrate P to adsorption pads  44  of substrate carrier  40  are not limited to those described above. That is, since the foregoing delivery of substrate P can be performed by holding pads  1084   b  and adsorption pads  44  being relatively moved in the Z-axis direction, adsorption pads  44  of substrate carrier  40  (the receiving substrate P side) may be moved in the Z-axis direction to receive substrate P from holding pads  1084   b  of substrate carry-in bearer devices  1082   b  (the delivering substrate P side). In this case, holding pads  1084   b  may be static or adsorption pads  44  and holding pads  1084   b  may be moved together in the Z-axis direction (holding pads  1084   b  may descend and adsorption pads  44  may ascend). In other words, if the movable range of holding pads  1084   b  and the movable range of adsorption pads  44  in the Z-axis direction are arranged to overlap with each other at least partially, then the delivery of substrate P between holding pads  1084   b  and adsorption pads  44  is possible. Further, although a holding state is changed from a state where one of holding pads  1084   b  and adsorption pads  44  holds substrate P to a state where the other of holding pads  1084   b  and adsorption pads  44  holds substrate P, via a state where both of them hold substrate P, this is not intended to be limiting. The holding state may be changed from a state where one of holding pads  1084   b  and adsorption pads  44  holds substrate P to a state where the other holds substrate P, via a state where none of them holds the substrate. This is possible because, substrate P is not broken by colliding with noncontact holder  32  owing to air supplied from noncontact holder  32  or the air stagnation at the lower surface of substrate P, even if substrate P is not supported by any one of holding pads  1084   b  and adsorption pads  44 . However, in the case where substrate P is not supported by any one of holding pads  1084   b  and adsorption pads  44 , nothing sets the position of substrate P that is levitated, and therefore the position of substrate P should be corrected (pre-alignment of the position should be performed) more carefully. 
     Also with the fourth embodiment described so far, the effect similar to the third embodiment described above can be obtained. Note that, as illustrated in  FIGS. 57 a  and 57 b   , in substrate stage device  20 , substrate carry-in bearer devices  1082   b  may be attached to substrate carrier  40  and substrate carrier  40  may hold substrate P by such substrate carry-in bearer devices  1082   b  (the adsorption pads may be made common). In this case, the two adsorption pads  44  (see  FIG. 3 ) on the −X side attached to substrate carrier  40  can be omitted. Further, although not illustrated, substrate carry-out bearer devices  1082   a  may similarly be attached to substrate carrier  40 . In this case, the two adsorption pads  44  on the +X side attached to substrate carrier  40  can also be omitted. In this case, substrate carry-in bearer devices  1082   b  are relatively driven upward with respect to substrate carrier  40 , and grip (adsorb and hold) the −X side end vicinity part of substrate P 2 , from below, on substrate carry-in hand  1062 , and substrate carry-in hand  1062  is withdrawn from below substrate P 2 , and then substrate P 2  is driven downward to be placed onto the noncontact holder, by substrate carry-in bearer devices  1082   b.    
     Fifth Embodiment 
     Next, a fifth embodiment will be described using  FIGS. 58 to 65 . Compared to the fourth embodiment described above, the present fifth embodiment is different in a part of the configuration of a substrate stage device and a part of the configuration of a substrate exchange device. In the description below of the present fifth embodiment, elements that have the similar configurations and functions to those in the fourth embodiment described above will be provided with the same reference signs as those in the fourth embodiment described above, and the description thereof will be omitted. 
     A substrate carrier  2040  that a substrate stage device  2020  related to the present fifth embodiment is different from the fourth embodiment described above in that substrate carrier  2040  is formed into a U-like shape open toward the +Y side, and in that adsorption pads  2044  to adsorb and hold substrate P are attached to a pair of Y frames  42   y . And, similarly to substrate stage device  220  as illustrated in FIGS.  13   a  and  13   b , substrate carrier  2040  is supported from below by air levitation units  238 . X frame  42 X on the −Y side of substrate P is attached to a position higher than substrate P. Further, a pair of substrate carry-in bearer devices  1082   b  are disposed at a predetermined spacing in the X-axis direction so as to be capable of holding the +X side end vicinity part and the −X side end vicinity part of substrate P, respectively. The pair of substrate carry-in bearer devices  1082   b  are attached to a coarse movement stage (not illustrated). The operations per se of substrate carry-in bearer devices  1082   b  are similar to those in the fourth embodiment described above. 
     Here, while substrate carrier  2040  is moved relative to noncontact holder  32 , air levitation units  36  and air levitation units  238  within the horizontal plane, substrate carry-in bearer devices  1082   b  are disposed outside the movement trajectory of substrate carrier  2040  holding substrate P (and substrate P). Specifically, the pair of substrate carry-in bearer devices  1082   b  are disposed spaced apart in the X-axis direction, and each of them is disposed between air levitation unit  36  and air levitation unit  238 . Holding pads  1084   b  (see  FIG. 29 b   ) that substrate carry-in bearer devices  1082   b  have are movable in the Z-axis direction, and therefore, when substrate carrier  2040  is moved relative to noncontact holder  32  and the like within the horizontal plane, holding pads  1084   b  are controlled to be moved toward the −Z direction and withdrawn to outside the movement trajectory of substrate carrier  2040  (and substrate P). 
     In substrate exchange device  1040 , a beam unit  2050 A and a substrate carry-out device  2070 A disposed at the port section (on the +X side of the substrate exchange position) are movable in the X-axis direction and the Y-axis direction by a drive device  2098  (the illustration is omitted in  FIGS. 59 to 64 ). Further, substrate exchange device  1040  also has a beam unit  2050 B and a substrate carry-out device  2070 B on the −Y side of the substrate exchange position. The configurations of beam units  2050 A and  2050 B and the configurations of substrate carry-out device  2070 A and  2070 B are roughly the same as those of beam unit  1050  and substrate carry-out device  1070  (see the drawings such as  FIGS. 30 a  and 30 b   ) of the fourth embodiment described above, respectively. 
     Next, the substrate exchange operations related to the present fifth embodiment will be described. In  FIG. 59 , noncontact holder  32  is located at the substrate exchange position. In this state, substrate carrier  2040  is driven toward the −Y side, and thereby the −Y side half area of substrate P 1  that has been exposed is supported from below by auxiliary table  34  on the −Y side. In parallel with this operation, a substrate carry-in hand  2062  carries substrate P 2  to the port section. Substrate carry-in hand  2062  scoops out, from below, substrate P 2  carried to the port section by a robot hand (not illustrated) of an external carrier device. 
     Subsequently, as illustrated in  FIG. 60 , substrate carry-in hand  2062  carries substrate P 2  toward a space above noncontact holder  32 . In parallel therewith, a substrate carry-out hand  2072 B of substrate carry-out device  2070 B grips the −Y side end vicinity part of substrate P 1 , and in such a state, is moved toward the −Y direction. Further, in parallel with the movement of substrate carry-out hand  2072 B (substrate P 1 ), substrate carrier  2040  is moved toward the +Y direction (in a direction opposite to substrate P 1 ). Furthermore, in parallel with each of the above operations, beam unit  2050 A and substrate carry-out device  2070 A are integrally moved toward the −Y direction. 
     Subsequently, as illustrated in  FIG. 61 , substrate carry-in bearer devices  1082   b  are driven upward, and adsorb and hold two points of the +Y side end vicinity part of substrate P 2  on substrate carry-in hand  2062 . Substrate carrier  2040  is restored to a normal position (a position where substrate carrier  2040  can hold substrate P on noncontact holder  32 ), and in this state, substrate carrier  2040  and substrate P 1  do not overlap with each other in positions within the XY plane. 
     Subsequently, as illustrated in  FIG. 62 , substrate carry-in hand  2062  is withdrawn from a space above noncontact holder  32  toward the +X direction at high speed and high acceleration. Since substrate P 2  is adsorbed and held by substrate carry-in bearer devices  1082   b , substrate P 2  is left in a space above noncontact holder  32 . In parallel with the foregoing operation, beam unit  2050 A and substrate carry-out device  2070 A are moved toward the −X direction. As illustrated in  FIG. 65 , the height positions of beam unit  2050 A and substrate carry-out device  2070 A are set so that they pass through a space above air levitation unit  238  on the +X side (they do not come into contact with air levitation unit  238 ). Referring back to  FIG. 62 , in substrate carry-out device  2070 A, substrate carry-out hand  2072 A is moved toward the −X direction. 
     Here, the acceleration of substrate carry-in hand  2062  at the time of withdrawal is set to an acceleration higher than the descending acceleration (not more than 1G) of substrate P, e.g., to an acceleration of about 3G. 
     Subsequently, as illustrated in  FIG. 63 , substrate carry-out hand  2072 A grips the exposed substrate P 1  and is moved toward the +X direction. The height position of the upper surfaces of beam units  2050 A and  2050 B are set to be roughly the same (see  FIG. 65 ), and substrate P 1  is moved along a flat surface (a guide surface) formed by beam units  2050 A and  2050 B. When substrate P 1  is supported by beam unit  2050 A, beam unit  2050 A and substrate carry-out device  2070 A are moved toward the +X direction. In parallel with each of the foregoing operations, substrate carry-in bearer devices  1082   b  descends in a state of gripping (holding) substrate P 2 , in substrate stage device  2020 . 
     Subsequently, as illustrated in  FIG. 64 , beam unit  2050 A and substrate carry-out device  2070 A holding substrate P 1  are moved toward the +Y direction. Note that beam unit  2050 A and substrate carry-out device  2070 A may continue to be moved toward the +X direction and carry out substrate P 1  toward an external device. In parallel with the foregoing operation, substrate carry-in bearer devices  1082   b  deliver substrate P 2  to adsorption pads  2044  of substrate carrier  2040 , and noncontact holder  32  supports substrate P 2  from below in a noncontact manner, in substrate stage device  2020 . In this state, substrate carrier  2040  and noncontact holder  32  are moved to a predetermined exposure starting position. 
     Also with the fifth embodiment described so far, the effect similar to that of the third embodiment described above can be obtained. Further, since substrate P 1  and substrate carrier  2040  are moved in directions opposite to each other at the time of carry-out operation of substrate P 1 , the carry-out operation of substrate P 1  can be performed swiftly. 
     Note that, in the fifth embodiment described above, a configuration is employed, in which substrate P (P 2 ) serving as a carry-in target is carried in by being moved from the +X side toward the −X side (toward the −X direction), and substrate P (P 1 ) serving as a carry-out target is carried out from the same place as the carry-in, by being shifted and moved toward the −Y direction and then moved toward the +X direction and toward the +Y direction. However, this is not intended to be limiting, and for example, substrate P may be carried in from the +X side toward the −X side (toward the −X direction) and also may be carried out toward the −Y direction, or alternatively substrate P may be carried in from the −Y side toward the +Y side (toward the +Y direction) and also may be carried out toward the −Y direction. Further, although the timing when substrate carry-in bearer devices  1082   b  descends while gripping a new substrate P (substrate P 2 ) is substantially the same as the timing when substrate carrier  2040  returns toward the +Y direction, either one of them may be performed earlier than the other. However, in the case of performing the descending of substrate P earlier, it is necessary to prevent adsorption pads  2044  and substrate P from coming into contact with each other when substrate carrier  2040  returns to a normal position. 
     Sixth Embodiment 
     Next, a sixth embodiment will be described using  FIGS. 66 a  to 70 b   . In the present sixth embodiment, in the exchange operations of substrates P in a liquid crystal exposure apparatus having a substrate stage device with a configuration similar to substrate stage device  520  (see the drawings such as  FIG. 21 ) related to the modified example of the second embodiment described above, a substrate carry-in bearer device is used that has a configuration similar to substrate carry-in bearer device  1082   b  (see the drawings such as  FIGS. 29 a  and 29 b   ) in the third embodiment described above. In the description below of the present sixth embodiment, elements that have the similar configurations and functions to those in the second embodiment or the third embodiment described above will be provided with the same reference signs as those in the second embodiment or the third embodiment described above, and the description thereof will be omitted. 
     As illustrated in  FIGS. 66 a  and 66 b   , a substrate stage device  3520  has a substrate carrier  3540  that is formed into a U-like shape open toward the −X side in planar view. Substrate carrier  3540  holds the end vicinity part of substrate P supported by noncontact holder  32 . The present sixth embodiment is the same as the modified example of the second embodiment described above in that substrate P is moved in a noncontact manner on a guide surface formed by noncontact holder  32  and a plurality of air levitation units  436  when substrate carrier  3540  is moved in the X-axis direction at the time of scan exposure operations. Drive systems of noncontact holder  32 , the plurality of air levitation units  436 , substrate carrier  3540  and the like are the same as those in the modified example of the second embodiment described above (see the drawings such as  FIGS. 21 to 25   b ), and therefore the description thereof will be omitted. 
     Substrate stage device  3520  has substrate carry-in bearer devices  3082   b  and a substrate carry-out bearer device  3082   a . The position within the XY-plane of each of bearer devices  3082   a  and  3082   b  relative to noncontact holder  32  is fixed (holding pads are movable relative to noncontact holder  32  only in the Z-axis direction). Substrate carry-in bearer devices  3082   b  are disposed at a position where substrate carry-in bearer device  3082   b  can hold the −X side end vicinity part of substrate P, and substrate carry-out bearer device  3082   a  is disposed in auxiliary table  534  on the +X side. 
     The substrate exchange operations in substrate stage device  3520  will be described below. When the exposure operations are finished, substrate carrier  3540  is moved toward the +X direction in a state of holding substrate P 1  so that substrate P 1  that has been exposed is supported by a plurality of air levitation units  436  on the +X side, as illustrated in  FIGS. 67 a    and  67   b.    
     Subsequently, as illustrated in  FIGS. 68 a  and 68 b   , a substrate carry-in hand  3062  (not illustrated in  FIG. 68 a   ) holding a new substrate P 2  enters a space above noncontact holder  32 . Further, substrate carry-out bearer device  3082   a  ascends, and adsorbs and grips the exposed substrate P 1 , from below, held by substrate carrier  3540 . Furthermore, in parallel with each of the foregoing operations, substrate carry-in bearer devices  3082   b  start to ascend. 
     Subsequently, as illustrated in  FIGS. 69 a  and 69 b   , substrate carry-in bearer devices  3082   b  ascend, and adsorb and hold the −X side end vicinity part of substrate P 2 . In this state, substrate carry-in hand  3062  is moved at high speed toward the +X direction, and withdrawn from below substrate P 2 . In parallel with each of the foregoing operations, substrate carrier  3540  releases the holding by adsorption of substrate P 1 , and then is moved toward the −X direction. 
     Subsequently, as illustrated in  FIGS. 70 a  and 70 b   , substrate carry-in bearer devices  3082   b  descend in a state of gripping substrate P 2 . Further, substrate carrier  3540  is moved toward the −X direction to be restored to a normal position. Substrate carry-in bearer devices  3082   b  perform rough alignment by finely driving substrate P 2  relative to noncontact holder  32  in the directions of three degrees of freedom within the horizontal plane, and then deliver substrate P 2  to adsorption pads  44  of substrate carrier  3540 . 
     Also with the sixth embodiment described so far, the effect similar to the third embodiment described above can be obtained. Further, a configuration is employed, in which the exposed substrate P 1  is moved to a position (on auxiliary table  534  on the +X side) that is completely withdrawn from a space above noncontact holder  32  and only substrate carrier  3540  returns to a normal position (on noncontact holder  32 ) leaving the exposed substrate P 1  at such a position, and therefore substrate carry-out bearer device  3082   a  is to perform only the vertical movement and its configuration is simple. Note that this is not intended to be limiting, and in a similar manner to the fifth embodiment described above, a carry-out device (substrate carry-out bearer device  3082   a  may be configured drivable in the X-direction, and such substrate carry-out bearer device  3082   a  may be used) having a configuration similar to substrate carry-out hand  2072 B (see  FIG. 61 ) may be caused to grip the exposed substrate P 1  at a position where about a half of the exposed substrate P 1  is supported by noncontact holder  32  (the overlapping position), and, at the same time as substrate carrier  3540  returning (being moved toward the −X direction), the exposed substrate P 1  may be moved toward a direction (toward the +X direction) reversed to substrate carrier  3540 . In this case, the length of auxiliary table  534  on the +X side can be shortened, and also the time for withdrawing substrate P 1  from substrate carrier  3540  can be halved, which decreases the substrate exchange time. 
     Further, the carry-in timing of substrate P 2  may be any timing as long as the exposed substrate P 1  no longer exists on noncontact holder  32 , but in the case of placing substrate P 2  onto noncontact holder  32  earlier than substrate carrier  3540 , it is necessary to prevent adsorption pads  44  of substrate carrier  3540  and the new substrate P 2  from coming into contact with each other in the midway of substrate carrier  3540  returning. Further, the carry-in direction of substrate P 2  and the carry-out direction of substrate P 1  may be any directions. 
     Seventh Embodiment 
     Next, a seventh embodiment will be described using  FIGS. 71 to 75C . In the present seventh embodiment, in a liquid crystal exposure apparatus having a substrate stage device with a configuration similar to substrate stage device  1020  (see the drawings such as  FIG. 27 ) related to the third embodiment described above, the configuration and the operations of a substrate carry-in bearer device are different from those in the third embodiment described above. In the description below of the present seventh embodiment, elements that have the similar configurations and functions to those in the third embodiment described above will be provided with the same reference signs as those in the third embodiment described above, and the description thereof will be omitted. 
     In  FIG. 71 , a substrate carry-in bearer device  4082  related to the seventh embodiment is illustrated with a part thereof omitted. While substrate carry-in bearer device  4082  related to the present seventh embodiment is a device for performing operations similar to those of substrate carry-in bearer device  1082   b  (see  FIG. 29 b   ) related to the third embodiment described above, improvement in the adsorption force of substrate P and improvement in the rigidity at the time of pre-alignment operation (in the X-axis direction and the θz direction) of substrate P are intended. 
     Although substrate carry-in bearer device  1082   b  (see  FIG. 29 b   ) related to the third embodiment described above has a configuration in which holding pads  1084   b  are inserted into cutouts  1028   b  formed at substrate holder  1028 , it is preferable that recessed sections such as cutouts are small (or there are no recessed sections) on the upper surface of the holder, from the viewpoint of holding force (flatness correction force) of substrate P by substrate holder  1028 . However, if the cutouts are made smaller, the holding pads need to be downsized accordingly, which may causes the risk that the adsorption force of substrate P decreases. In the present embodiment, as illustrated in  FIG. 71 , a holding pad  4084  of substrate carry-in bearer device  4082  is made thinner and also any cutouts (recessed sections) are not formed at a substrate holder (not illustrated). Holing pad  4084  is made larger than that in the third embodiment described above and the adsorption force of substrate P is improved. 
     Further, substrate carry-in bearer device  4082  has a guide mechanism  4098  that is capable of finely moving holding pad  4084  only in the Y-axis direction and the θz direction. The exploded view of substrate carry-in bearer device  4082  is illustrated in  FIG. 72 , and the concept view of guide mechanism  4098  is illustrated in  FIG. 73 . A joint  4082   f  is connected to holding pad  4084 . Holding pad  4084  is fixed to an oscillation block  4082   e  with a trapezoidal shape in planar view (viewed from the Z-axis direction) via bolts or the like. A rotating shaft  4082   g  protrudes from the upper surface and the lower surface of oscillation block  4082   e . Holding pad  4084  is attached to a main body section  4086  via rotating shaft  4082   g , a first fine movement guide  4082   b  and a second fine movement guide  4082   d . Fine movement guides  4082   b  and  4082   d  include a parallel plate spring device stretched between main body section  4086  and a bearing block  4082   h . A θz position control guide  4082   c  is attached to main body section  4086 . θz position control guide  4082   c  has a pair of plate springs and oscillation block  4082   e  is inserted between the pair of plate springs. θz position control guide  4082   c  restores oscillation block  4082   e  to a neutral position. Holding pad  4084 , main body section  4086  and the like are integrally driven by an X linear actuator  4082   a  in the X-axis direction. 
     As illustrated in  FIG. 73 , in guide mechanism  4098 , bearing block  4082   h  that supports rotating shaft  4082   g  is finely movable relative to main body section  4086 , by fine movement guides  4082   b  and  4082   d , and holding pad  4084  is freely oscillated with respect to bearing block  4082   h  at a minute angle in the θz direction. The range where holding pad  4084  can oscillate is defined by the pair of plate springs that θz position control guide  4082   c  has. 
     As illustrated in  FIG. 74 , at the time of pre-alignment operation of substrate P, the respective main body sections  4086  of a pair of substrate carry-in bearer devices  4082  are driven in directions opposite to each other, in order to rotate substrate P in the θz direction. On this operation, guide mechanism  4098  (see  FIG. 73 ) of the present embodiment allows the positioning operations of substrate P to be performed with the simple structure as well as the high rigidity and high accuracy. 
     In  FIGS. 75 a  to 75 c   , the carry-in operations of substrate P related to the seventh embodiment are shown. The carry-in operations of substrate P are generally the same as those in the second embodiment described above. After substrate P is delivered from the substrate carry-in hand (not illustrated) to holding pads  4084  of substrate carry-in bearer devices  4082  in a space above substrate holder  1028 , substrate P and holding pads  4084  descend, and substrate P is supported in a noncontact manner by substrate holder  1028  via a minute gap. In the present seventh embodiment, any recessed sections for housing holdings  4084  are not formed on the upper surface of substrate holder  1028 , and the thickness of holding pad  4084  is set thinner than a spacing between the lower surface of substrate P and the upper surface of substrate holder  1028 . 
     In this state, the pre-alignment operation of substrate P is performed by independently driving the pair of holding pads  4084  in the X-axis direction, as illustrated in  FIG. 75 a   . Subsequently, as illustrated in  FIG. 75 b   , substrate holder  1028  causes the vacuum suction force to act on substrate P in the order from the +X side toward the −X side (toward the −X direction). When the holding by adsorption of the most part of substrate P has been completed, the pair of holding pads  4084  that have released the holding by adsorption of substrate P are driven toward the −X direction and withdrawn (pulled out) from below substrate P, as illustrated in  FIG. 75 c   . Note that gas at high pressure may be jetted from holding pads  4084  and thereby the contact with substrate P may be reduced, i.e., the frictional force may be reduced. Thereafter, substrate holder  1028  adsorbs and holds the entirety of substrate P, though not illustrated. 
     According to substrate carry-in bearer devices  4082  of the present seventh embodiment, while the holding force of substrate P is maintained, the flatness degree of substrate holder  1028  is not deteriorated. Further, the rigidity in the operation direction at the time of pre-alignment operation is improved, and thereby the pre-alignment accuracy can be improved. Substrate carry-in bearer devices  4082  of the present seventh embodiment described so far may be applied to the fourth embodiment described above. 
     Eighth Embodiment 
     Next, an eighth embodiment will be described using  FIGS. 76 to 77C . In the present eighth embodiment, in a liquid crystal exposure apparatus having a substrate stage device with a configuration similar to substrate stage device  1020  (see the drawings such as  FIG. 27 ) related to the third embodiment described above, the configuration and the operations of a substrate exchange device are different from those in the third embodiment described above. In the description below of the present eighth embodiment, elements that have the similar configurations and functions to those in the third embodiment described above will be provided with the same reference signs as those in the third embodiment described above, and the description thereof will be omitted. 
     A substrate stage device  5020  has substrate carry-out bearer devices  5082   a  in the vicinity of both corners on the +X side of substrate holder  1028 , and substrate carry-in bearer devices  5082   b  in the vicinity of both corners on the −X side of substrate holder  1028 . The configurations of bearer devices  5082   a  and  5082   b  are generally the same as those of substrate carry-in bearer devices  4082  (see the drawings such as  FIG. 71 ) related to the seventh embodiment described above. That is, bearer devices  5082   a  and  5082   b  each have holding pad  4084  of thin type (see the drawings such as  FIG. 71 ) that is movable with a predetermined stroke in the X-axis direction. Therefore, any recessed sections for pad housing are not formed at the upper surface of substrate holder  1028 . The stroke of substrate carry-out bearer device  5082   a  in the X-axis direction is set longer than that of the third embodiment described above. Bearer devices  5082   a  and  5082   b  may be attached to substrate table  1024  or may be attached to a coarse movement stage (not illustrated). 
     Substrate stage device  5020  has a platform for carry-out  5030 . Platform for carry-out  5030  has a plurality (e.g. ten in the present embodiment) of balance beams  5032 . The plurality of balance beams  5032  are connected to the side surface on the +X side of substrate table  1024  via a platform base  5038 . Balance beams  5032  are members having the same functions as those of balance beams  1052  (see  FIG. 28 ) in the third embodiment described above, except that their lengths are different from those of balance beams  1052 . The Z-positions of the upper surfaces of balance beams  5032  are set to be substantially the same as (or slightly lower than) the Z-position of the upper surface of substrate holder  1028 . Further, the Z-positions of the upper surfaces of balance beams  5032  are set to be substantially the same as the Z-positions of the upper surfaces of balance beams  1052  that beam unit  1050  (see  FIG. 77 a   ) has. Platform for carry-out  5030  may be attached to the side surface or the lower surface of substrate holder  1028 . 
     A plurality of illuminance sensors  5034 , a reference index  5036 , a reference illuminance meter (not illustrated) and the like (hereinafter, referred to as sensors) are attached onto platform base  5038 . The Z-positions of the upper surfaces of the sensors are set lower than the Z-positions of the upper surfaces of balance beams  5032 . Platform for carry-out  5030  including the plurality of balance beams  5032  and the sensors are moved integrally with substrate holder  1028  with a long stroke within the XY plane in the operations such as the scanning exposure operation. As illustrated in  FIG. 77 a   , a bar mirror  5022  is attached to the side surface on the −X side of substrate table  1024 , via a mirror base  5024 . 
     Next, the carry-out operations of substrate P in substrate stage device  5020  will be described. As illustrated in  FIG. 76 , both corner vicinity parts on the +X side of substrate P that has been exposed are gripped (held) by substrate carry-out bearer devices  5082   a . Substrate carry-out bearer devices  5082   a  move substrate P (causes substrate P to be offset) toward the +X side relative to substrate holder  1028 . In the offset state, the +X side end vicinity part of substrate P protrudes from the end of substrate holder  1028  and this protruding portion is supported from below by the plurality of balance beams  5032 . Since balance beams  5032  forma system integral with substrate holder  1028  as is described above, the offset operation of substrate P by substrate carry-out bearer devices  5082   a  can be performed in parallel with an operation in which substrate holder  1028  is moved toward a predetermined substrate exchange position after the exposure operations are finished. On this operation, substrate carry-out hand  1072  of substrate carry-out device  1070  stands by at a lower position than balance beams  5032  so that substrate carry-out hand  1072  and balance beams  5032  do not come into contact with each other, even if substrate stage device  5020  becomes uncontrollable. 
     The present eighth embodiment is the same as the third embodiment described above in that the +X side end vicinity part of substrate P is gripped (held) by substrate carry-out hand  1072  after substrate holder  1028  is placed at the substrate exchange position (see  FIG. 77 b   ), and in that substrate carry-out hand  1072  gripping substrate P is driven toward the +X direction, and thereby substrate P is carried out onto beam unit  1050  (see  FIG. 77 c   ), and therefore, the description thereof will be omitted. Further, the carry-in operations of the substrate using substrate carry-in bearer devices  5082   b  are the same as those in the seventh embodiment described above, and therefore, the description thereof will be omitted. 
     According to the eighth embodiment described so far, since the carry-out operations of substrate P can be started before substrate holder  1028  reaches the substrate exchange position, the substrate exchange operations can be performed swiftly. Further, the length of balance beams  1052  that beam unit  1050  has and the stroke in the X-axis direction of substrate carry-out hand  1072  of substrate carry-out device  1070  can each be shortened. 
     Ninth Embodiment 
     Next, a ninth embodiment will be described using  FIGS. 78 to 83 . In the present ninth embodiment, in a liquid crystal exposure apparatus having a substrate stage device with a configuration similar to that of substrate stage device  5020  (see the drawings such as  FIG. 76 ) related to the eighth embodiment described above, the configuration and the operations of a substrate exchange device are different from those in the eighth embodiment described above. In the description below of the present ninth embodiment, elements that have the similar configurations and functions to those in the eighth embodiment described above will be provided with the same reference signs as those in the eighth embodiment described above, and the description thereof will be omitted. 
     As illustrated in  FIG. 78 , a substrate stage device  6020  related to the ninth embodiment is configured similarly to substrate stage device  5020  (see the drawings such as  FIG. 76 ) of the eighth embodiment described above, except for the placement and operations of substrate carry-in bearer devices  6082   b . Of a pair of substrate carry-in bearer devices  6082   b , one substrate carry-in bearer device  6082   b  is disposed on the +Y side of substrate holder  1028  and the other is disposed on the −Y side of substrate holder  1028 . Substrate carry-in bearer devices  6082   b  are similar to substrate carry-in bearer devices  4082  (see the drawings such as  FIG. 71 ) related to the seventh embodiment described above, but is different from substrate carry-in bearer devices  4082  in that the stroke in the X-axis direction of holding pads  4084  of thin type is set longer than that in the seventh embodiment described above. In the present embodiment, holding pads  4084  of substrate carry-in bearer devices  6082   b  are movable with a long stroke along the +Y side (or −Y side) end of substrate holder  1028 . Further, holding pads  4084  are also movable with a predetermined stroke in the Y-axis direction. 
     The carry-in operations of substrate P related to the ninth embodiment will be described below. As illustrated in  FIG. 80 , substrate P is carried in by substrate carry-in device  1060  similar to that in the third embodiment described above. As illustrated in  FIGS. 79 a    and  81 , substrate P placed on substrate carry-in hand  1062  of substrate carry-in device  1060  is carried to a space above substrate holder  1028 . On this operation, substrate P is offset toward the +X side relative to substrate holder  1028 , which is different from the third embodiment described above. 
     Subsequently, as illustrated in  FIG. 81 , the pair of substrate carry-in bearer devices  6082   b  grip (hold) the −X side end vicinity part of substrate P. Holding pads  4084  are located at a position (outside substrate holder  1028 ) that does not overlap with substrate P within the XY plane, at the time of exposure operations and the like, and when gripping substrate P, one holding pad  4084  (on the +Y side) is driven toward the −Y direction and other holding pad  4084  (on the −Y side) is driven toward the +Y direction, and thereby holding pads  4084  are inserted between substrate P and substrate holder  1028 . After that, as illustrated in  FIGS. 79 b    and  82 , substrate carry-in hand  1062  is moved toward the +X direction and withdrawn from a space above substrate holder  1028 . In parallel with this withdrawal operation of substrate carry-in hand  1062 , holding pads  4084  are driven downward along with substrate P descending due to the self-weight. Further, along with the descending operation, holding pads  4084  are driven toward the −X direction (a direction reversed to the movement direction of substrate carry-in hand  1062  at the time of the withdrawal operation). 
     As illustrated in  FIG. 83 , on the −X side of substrate holder  1028 , a pair of edge sensors  6098  are disposed spaced apart in the Y-axis direction (not illustrated in  FIGS. 78 and 80 to 82 ). As illustrated in  FIG. 79 a   , edge sensors  6098  are attached to mirror base  5024  via a bracket  6096  with an L-like shape in side view. A target  6094  is disposed below edge sensors  6098 . Edge sensors  6098  detect the position in the X-axis direction of the −X side end of substrate P inserted between edge sensors  6098  and target  6094 , relative to substrate holder  1028 . 
     Holding pads  4084  perform the descending operation and the moving operation toward the −X direction in parallel, and thereby, as illustrated in  FIG. 79 c   , the −X side end vicinity part of substrate P is inserted between edge sensors  6098  and target  6094 . At this time, pressurized gas is jetted from substrate holder  1028  to the lower surface of substrate P, and substrate P is levitated on substrate holder  1028 , which is the same as the third embodiment described above. 
     As illustrated in  FIG. 83 , holding pads  4084  are finely driven as needed in the X-axis direction and the Y-axis direction on the basis of the outputs of the pair of edge sensors  6098 . Accordingly, the pre-alignment operation of substrate P is performed. After the pre-alignment operation is finished, the holding by adsorption of substrate P by substrate holder  1028  and the withdrawal operation of holding pads  4084  from below substrate P are performed, as illustrated in  FIG. 79 d   , which is similar to the seventh embodiment described above. 
     According to the ninth embodiment described so far, the stroke in the X-direction of substrate carry-in hand  1062  of substrate carry-in device  1060  can be shortened. Further, holding pads  4084  and substrate carry-in hand  1062  are moved in directions opposite to each other, and thereby the separation between substrate P and substrate carry-in hand  1062  can be performed swiftly, which allows the substrate exchange time in total to be decreased. Further, since edge sensors  6098  and target  6094  can be together installed at substrate stage device  6020 , detection of the edges can be performed easily, for example, compared to the case of installing only the edge sensors at device main body  18  (see  FIG. 1 ). Furthermore, by the moving operations of holding pads  4084  toward the −X direction, the X side ends of substrate P can be detected by edge sensors  6098 , which decreases the time required for the pre-alignment operation of performing position adjustment of substrate P relative to substrate holder  1028 . 
     Note that, although two points of the end in one direction (on the −X side in the present embodiment) of substrate P are detected by edge sensors  6098  in the present embodiment, this is not intended to be limiting, and as illustrated in  FIG. 84 , the detection of ends on three-directions (the +Y direction, the −Y direction and the −X direction) sides may be performed using respective pairs of edge sensors  6098 . Note that in the case where a reference side is on the +X side, substrate P should be rotated at a 180 degree angle around the Z-axis and carried into substrate holder  1028 . 
     Note that the configurations of the liquid exposure apparatuses, the substrate stage devices and the substrate exchange devices related to the first embodiment to the ninth embodiment described so far are examples, and can be changed as needed. Modified examples will be described below. 
     A first modified example as shown in  FIGS. 85 a  and 85 b    provides an embodiment in which the pair of substrate carry-in bearer devices  1082   b  are fixed, in a suspended state, to upper mount section  18   a  of apparatus main body  18  in the fourth embodiment described above. Holding pads  1084   b  of substrate carry-in bearer devices  1082   b  are movable in the Z-axis direction and the X-axis direction (or the Z-axis direction, the X-axis direction, and the Y-axis direction). The structure of substrate carry-in bearer device  1082   b  may use direct-operated actuators similar to those in the fourth embodiment described above, or may use a publicly known parallel link mechanism as disclosed in, for example, U.S. Pat. No. 6,516,681. In this case, recessed sections (cutouts) for housing holdings pads  1084   b  need not be formed at noncontact holder  32 . 
     A second modified example as shown in  FIGS. 86 a  and 86 b    provides an embodiment in which holding pads  10044  usable as holding pads  1084   b  (see  FIG. 29 b   ) of substrate carry-in bearer devices  1082   b  and also as adsorption pads  44  (see  FIG. 3 ) of substrate carrier  40  in the fourth embodiment described above are attached to substrate carrier  40 . Holdings pads  10044  are movable in the Z-axis direction and the X-axis direction (or the Z-axis direction, the X-axis direction, and the Y-axis direction) relative to the main body section (the frame-like member) of substrate carrier  40 . In this case, the delivery operations of substrate P between the holding pads as in the fourth embodiment described above are not necessary. A sensor (an interferometer or an encoder) to measure the position of substrate P is attached to substrate carrier  40 , and therefore, in the case where pad members for substrate carry-in also serve as pad members for substrate holding as in the present modified example, it is necessary to prevent holding pads  10044  from shifting relative to the main body section of substrate carrier  40 , after the attitude adjustment of substrate P. As an example, as illustrated in  FIGS. 87 c  and 87 d   , adsorption pads  1046  should be attached to substrate carrier  40 , and the relative movement of holding pads  10044  with respect to substrate carrier  40  should be restricted by adsorbing and holding the back surface of holdings pads  10044  by holding pads  1046 , after substrate P is delivered to noncontact holder  32 . As a method of restricting the relative movement between adsorption pads  1046  and the main body section of substrate carrier  40 , adsorption pads  1046  and the main body section of substrate carrier  40  may be mechanically locked (e.g., the adsorption pads and substrate carrier  40  may be coupled). After substrate P is supported in a noncontact manner by noncontact holder  32 , adsorption pads  1046  that drives substrate P and substrate carrier  40  may be electrically locked. As a method of electrically locking them, a driving force (electric power) for driving adsorption pads  1046  in a vertical direction may be OFF, to prevent the relative driving of adsorption pads  1046  with respect to substrate carrier  40 . As another method of electrically locking them, the position control may be performed to prevent adsorption pads  1046  from shifting with respect to substrate carrier  40 , thereby controlling the relative positional relationship between them not to be changed. A measurement system that measures the relative positional relationship between substrate carrier  40  and the holding pads may be further provided. Although such a measurement system may restrict the relative movement between holdings pads  10044  and substrate carrier  40 , the measurement system is a system for monitoring whether or not the relative positional relationship between them is maintained within a predetermined range. The measurement by the measurement system may be performed intermittently, or may be performed at each predetermined time. 
     A third modified example as shown in  FIGS. 88 a  and 88 b    provides an embodiment in which the substrate stage device does not have elements corresponding to substrate carry-in bearer devices  1082   b  (see  FIG. 49 ) in the fourth embodiment described above. In the present modified example, substrate carrier  40  as a whole is vertically moved by a plurality of lifters  10048  attached to coarse movement stage  24 , thereby to receive substrate P that stands by in a space above noncontact holder  32  from substrate carry-in hand  1062 , and descend. Therefore, substrate carrier  40  has, for example, a shape without a frame member on the +X side (a U-like shape in planar view) to prevent substrate carrier  40  from interfering with substrate P that is carried in. Note that lifters  10048  may be finely movable in the XY directions, or one lifter  10048  may adsorb and fix the back surface of substrate carrier  40  and capable of rotating substrate carrier  40  around the Z-axis. In this case, rough alignment of substrate P relative to substrate carrier  40  can be performed. In the present modified example, linear motors (voice coil motors) for finely driving substrate carrier  40  are disposed so that stators and movers can be separated in the Z-direction, as illustrated in  FIGS. 1 and 2 , and therefore substrate carrier  40  can be easily separated from or linked with coarse movement stage  24  and the like. Note that in the present modified example, the frame member on the +X side is not provided, and therefore, of the linear motors for finely driving substrate carrier  40 , a pair of X linear motors are disposed spaced apart in the Y-axis direction and one Y linear motor is disposed in the center part in the Y-axis direction, which are each disposed on the −Y side of substrate carrier  40 , and the fine rotation control around the Z-axis of substrate carrier  40  can also be performed. Further, similarly to the modified example as shown in  FIG. 13 a   , substrate carrier  40  is placed on air levitation units  238  attached to substrate table  30  that is vibrationally (physically) separated from coarse movement stage  24 . 
     A fourth modified example as shown in  FIGS. 89 a  to 89 c    provides an embodiment in which the configuration of a substrate stage device  10050  is different from that in the fourth embodiment described above. Substrate stage device  10050  is similar to the fourth embodiment described above in that a member (a substrate carrier  10052 ) that holds substrate P and noncontact holder  32  are separated, but is different from the fourth embodiment described above in that substrate carrier  10052  and noncontact holder  32  are both movable with a long stroke within the XY plane and substrate carrier  10052  is finely movable relative to noncontact holder  32 . Substrate carrier  10052  has a holding pad  10054  that is formed into a bar-like shape extending in the Y-axis direction and adsorbs and holds the −X side end vicinity part of substrate P from below. Substrate carrier  10052  is placed in a noncontact manner on air levitation unit  238  attached to substrate table  30 , and is finely movable relative to noncontact holder  32  in the directions of three degrees of freedom within the horizontal plane. A pair of openings spaced apart in the Y-axis direction are formed at the holding surface of holding pad  10054 , and holding pads  10056  are housed in the openings. Holdings pads  10056  are apart of a bearer device for substrate carry-in  10058 , and are driven at least in the Z-axis direction relative to the main body section (the bar-like member) of substrate carrier  10052 . In the present modified example, as illustrated in  FIG. 89 b   , when substrate carry-in hand  1062  carries substrate P to a space above noncontact holder  32 , holding pads  10056  are driven upward, and adsorb and hold the −X side end vicinity part of substrate P. The present fourth modified example is the same as the fourth embodiment described above in that substrate carry-in hand  1062  is then withdrawn toward the +X direction, and in that holding pads  10056  are driven downward along with the falling operation of substrate P due to the self-weight, as illustrated in  FIG. 89 c   . At this time, the upper surfaces of holding pads for carry-in  10056  are positioned to be lower in position than the upper surface of holding pad  10054  for adsorbing and holding (so that holding pads  10056  are separated from substrate P). 
     A fifth modified example as shown in  FIGS. 90 a  and 90 b    provides an embodiment in which the configuration of a substrate stage device  10060  is different from that in the fourth embodiment described above. While substrate carrier  40  (see  FIG. 49 ) of the fourth embodiment described above is a frame-like member with a rectangular shape in planar view, a substrate carrier  10062  of the present modified example is a bar-like member extending in the Y-axis direction, and adsorbs and holds the center part (one point) on the −X side of substrate P. Substrate carrier  10062  is placed in a noncontact manner on air levitation unit  238  attached to substrate table  30 , and is finely movable relative to noncontact holder  32  in the directions of three degrees of freedom within the horizontal plane. Substrate carrier  10062  has a plurality of encoder heads  10068  and movement amount information relative to coarse movement stage  24  is obtained by an encoder system that uses a scale  10071  attached to coarse movement stage  24 . Further, coarse movement stage  24  also has a plurality of encoder heads  10073  and movement amount information relative to apparatus main body  18  is obtained by an encoder system using a scale  10075  attached to apparatus main body  18 . In this manner, in substrate stage device  10060  of the present modified example, position information of substrate carrier  10062  (substrate P) is obtained by the encoder systems in two steps, via coarse movement stage  24 , with apparatus main body  18  serving as a reference. A pair of substrate carry-in bearer devices  10064  spaced apart in the Y-axis direction are attached to substrate table  30 . Substrate carry-in bearer devices  10064  have holding pads  10066  that are movable relative to noncontact holder  32  at least in the Z-axis direction. The carry-in operations of substrate P using holding pads  10066  are the same as those in the fourth embodiment described above. 
     A sixth modified example as shown in  FIGS. 91, 102   a  and  102   b  provides an embodiment in which bearer devices for substrate carry-in  10072  are disposed in a substrate stage device  10070  of a type disclosed in the U.S. Patent Application Publication No. 2011/0053092. Substrate stage device  10070  is the same as the substrate stage device of the fourth embodiment described above in that substrate P is held by a substrate holding frame  10076  that is a frame-shaped member, but is different from the fourth embodiment described above in that the positions within the horizontal plane of members (air levitation units  10078   a  and fixed-point stages  10078   b ) that support substrate P from below are fixed. A total of six bearer devices for substrate carry-in  10072  are disposed in  FIG. 91 , but substrate P is not placed on fixed-point stages  10078   b  at the time of substrate exchange in substrate stage device  10070 , and therefore a plurality of bearer devices for substrate carry-in  10072  can be disposed at arbitrary positions below substrate P. Bearer devices for substrate carry-in  10072  have holding pads  10074  that are movable at least in the Z-axis direction, which is the same as each of the embodiments and the modified examples described above. Further, holding pad  10074  capable of facing the center part of substrate P is movable also in a direction around the Z-axis. Accordingly, rotation correction (rough alignment) of substrate P can be performed using the holding pad  10074 . The present sixth modified example is the same as the fourth modified example described above in that holdings pads  10074  descend and deliver substrate P to holding pads  10079  of substrate holding frame  10076 , and in that holding pads  10074  are driven downward to a lower position than holding pads  10079  after this delivery operation. Substrate holding frame  10076  does not have to be equipped with holdings pads  10079  for holding substrate P, as is disclosed in U.S. Patent Application Publication No.  2011 / 0053092 . Substrate holding frame  10076  may hold substrate P by a pressing member attached via a compression coil spring. 
     A seventh modified example as shown in  FIGS. 92 a  and 92 b    provides an embodiment in which a withdrawal direction of substrate carry-in hand  1062  after delivering substrate P to substrate carry-in bearer devices  1082   b  is different from that in the fifth embodiment described above. As is described above, in the third embodiment and the fourth embodiment, substrate carry-in hand  1062  is withdrawn toward a direction opposed to substrate carry-in bearer devices  1082   b . In the present seventh modified example, a pair of substrate carry-in bearer devices  1082   b  are disposed spaced apart in the X-axis direction, and adsorb and hold two points spaced apart in the X-axis direction of the +Y side end of substrate P, and therefore, similarly to the third embodiment and the fourth embodiment described above, substrate carry-in hand  1062  is moved toward a direction opposed to substrate carry-in bearer devices  1082   b , i.e., toward the −Y side, thereby being withdrawn from below substrate P. In this case, since finger section  1062   a  (see  FIG. 30 a   ) on the utmost +Y side of substrate carry-hand  1062  supports substrate P from below until the withdrawn operation is finished, the hanging-down of substrate P (in particular, the hanging-down of the corner on the −Y side and the −X side of substrate P) can be suppressed. Further, although finger sections  1062   a  jet air to substrate P to support substrate P in a noncontact manner, the air may be jetted in a normal direction with respect to substrate P as the jetting direction, or the air may be jetted from an oblique direction with respect to P in order to increase an area to which the air is jetted of substrate P. 
     An eighth modified example as shown in  FIGS. 93 a  and 93 b    provides an embodiment in which a substrate stage device  10080  has a platform for carry-out  10082  similar to the eighth embodiment described above and further platform for carry-out  10082  also has a substrate carry-out hand  10084 , in the fourth embodiment described above. Platform for carry-out  10082  is connected to noncontact holder  32  and moved integrally with noncontact holder  32  with a long stroke in the X-axis direction. The length of balance beam  10086  that platform for carry-out  10082  has is set to a length that is longer than that of balance beam  5032  (see  FIG. 76 ) of the eighth embodiment described above, and enough to support the entirety of substrate P from below. Platform for carry-out  10082  has a drive device  10088  for driving substrate carry-out hand  10084 . Therefore, substrate stage device  10080  is capable of carrying out substrate P from substrate carrier  40  (noncontact holder  32 ) by only platform for carry-out  10082 . Consequently, the carry-out operation of substrate P can be started before substrate stage device  10080  reaches the substrate exchange position (during the movement). Further, substrate P can be carried out from substrate carrier  40  at higher velocity than the moving velocity of substrate stage device  10080  to the substrate exchange position. 
     A ninth modified example as shown in  FIGS. 94 a  to 94 c    provides an embodiment in which holdings pads  1084   b  that substrate carry-in bearer devices  1082   b  have are controlled irrespective of the descending velocity (or the acceleration) of substrate P, in the third embodiment described above. As is described above, substrate P freely falls (actually, falls at the acceleration smaller than the gravity acceleration) onto substrate holder  1028 , except for the portions gripped by substrate carry-in bearer devices  1082   b  (the side on which the collision force to substrate holder  1028  is buffered). In an example as shown in  FIG. 94 b   , holding pads  1084   b  are lowered after the descending operation of the free end side of substrate P is started, and in an example as shown in  FIG. 94 c   , holding pads  1084   b  are lowered before the descending operation of the free end side of substrate P is started. 
       FIGS. 95 to 100  show modified examples (tenth to fifteenth modified examples) of the fourth embodiment as shown in  FIGS. 89 a  to 89 c    (noncontact holder  32  is not illustrated in  FIGS. 95 to 100 ). While a substrate carrier  10052 A that a substrate stage device  10050 A has as illustrated in  FIG. 95  is formed into a bar-like shape extending in the Y-axis direction similarly to the fourth modified examples, substrate carrier  10052 A itself has a function of directly adsorbing and holding substrate P. Then, holding pads for substrate carry-in  10056  are incorporated in substrate carrier  10052 A, which is similar to the fourth modified example described above. In a substrate stage device  10050 B as illustrated in  FIG. 96 , a substrate carrier  10052 B is formed into a bar-like shape extending in the X-axis direction, and directly adsorbs and holds the −Y side end vicinity part of substrate P from below. A pair of holding pads for substrate carry-in  10056  are incorporated in substrate carrier  10052 B, which is the same as the modified example as shown in  FIG. 95 . 
     In a substrate stage device  10050 C as illustrated in  FIG. 97 , substrate P is directly held by a substrate carrier  10052 Ca that holds the −X side end vicinity part of substrate P and a substrate carrier  10052 Cb that holds the +X side end vicinity part of substrate P. Substrate carriers  10052 Ca and  10052 Cb are each formed into a bar-like shape extending in the Y-axis direction. A pair of holding pads for substrate carry-in  10056  are incorporated in substrate carrier  10052 Ca disposed on the −X side, which is the same as the modified example as shown in  FIG. 95 . In a substrate stage device  10050 D as illustrated in  FIG. 98 , substrate P is directly held by a substrate carrier  10052 D that is formed into a U-like shape in planar view. A pair of holding pads for substrate carry-in  10056  are incorporated in a part, extending in the Y-axis direction along the −X side end of substrate P, of substrate carrier  10052 D, which is the same as the modified example as shown in  FIG. 95 . 
     Ina substrate stage device  10050 E as illustrated in  FIG. 99 , substrate P is directly held by a substrate carrier  10052 E that is formed into an L-like shape in planar view. A stiffening brace  20054  is connected to substrate carrier  10052 E, and this brace  20054  is housed in a groove formed at substrate table  30  so that brace  20054  does not disturb the relative movement between substrate carrier  10052 E and substrate table  30 . A pair of holding pads for substrate carry-in  10056  are incorporated in a part, extending in the Y-axis direction along the −X side end of substrate P, of substrate carrier  10052 E, which is the same as the modified example as shown in  FIG. 95 . In substrate stage device  10050 F as illustrated in  FIG. 100 , a substrate carrier  10052 F is formed into a rectangular frame shape surrounding the outer periphery of substrate P, similarly to the fourth embodiment described above. However, differently from the fourth embodiment described above, substrate carrier  10052 F is movable together with substrate table  30  (a substrate holder that is not illustrated), with a predetermined long stroke within the horizontal plane, and also is finely drivable with respect to substrate table  30 . A pair of holding pads for substrate carry-in  10056  are incorporated in a part, extending in the Y-axis direction along the −X side end of substrate P, of substrate carrier  10052 F, which is the same as the modified example as shown in  FIG. 95 . 
       FIG. 101  shows a substrate stage device  10060 A of a modified example (a sixteenth modified example) of the fifth modified example as shown in  FIGS. 90 a  and 90 b   . Substrate carrier  10062  (see  FIG. 90 a   ) holds the −X side end vicinity part of substrate P in the fifth modified example described above, whereas substrate stage device  10060 A of the present modified example has a substrate carrier  10164  that holds the +X side end vicinity part of substrate P, along with substrate carrier  10062 . Substrate carrier  10164  on the +X side has encoder heads for position measurement  10068 , which is the same as substrate carrier  10062  on the −X side. Substrate stage device  10060 A has holding pads for substrate carry-in  10066  that hold the −X side end vicinity part of substrate P, which is similar to the fifth modified example described above. 
     Further, a light source used in illumination system  12  and the wavelength of illumination light IL irradiated from the light source are not particularly limited, and for example, may be ultraviolet light such as an ArF excimer laser beam (with a wavelength of 193 nm) or a KrF excimer laser beam (with a wavelength of 248 nm), or vacuum ultraviolet light such as an F 2  laser beam (with a wavelength of 157 nm). 
     Further, although in each of the embodiments described above, an unmagnification system is used as projection optical system  16 , the projection optical system is not limited thereto, and a reduction system or a magnifying system may be used. 
     Further, the use of the exposure apparatus is not limited to the exposure apparatus used for liquid crystal display devices that transfers a liquid crystal display device pattern onto a square-shaped glass plate, but can be widely applied also to, for example, an exposure apparatus for manufacturing organic EL (Electro-Luminescence) panels, an exposure apparatus for manufacturing semiconductor devices, and an exposure apparatus for manufacturing thin-film magnetic heads, micromachines, DNA chips or the like. Further, each of the embodiments described above can also be applied to an exposure apparatus that transfers a circuit pattern onto a glass substrate or a silicon wafer or the like, not only when producing microdevices such as semiconductor devices, but also when producing a mask or a reticle used in an exposure apparatus such as an optical exposure apparatus, an EUV exposure apparatus, an X-ray exposure apparatus, or an electron beam exposure apparatus. 
     Further, an object serving as an exposure target is not limited to a glass plate, but may be other objects such as a wafer, a ceramic substrate, a film member, or a mask blank. Further, in the case where the exposure target object is a substrate for flat-panel display, the thickness of the substrate is not particularly limited, and for example, a film-like member (a sheet-like member that is flexible) is also included. Note that the exposure apparatus of the present embodiments is especially effective in the case where a substrate whose one side or diagonal line has a length of 500 mm or greater is the exposure target object. 
     Electronic devices such as liquid crystal display devices (or semiconductor devices) are manufactured through the steps such as: a step in which the function/performance design of a device is performed; a step in which a mask (or a reticle) based on the design step is manufactured; a step in which a glass substrate (or a wafer) is manufactured; a lithography step in which a pattern of the mask (the reticle) is transferred onto the glass substrate with the exposure apparatus in each of the embodiments described above and the exposure method thereof; a development step in which the glass substrate that has been exposed is developed; an etching step in which an exposed member of the other section than a section where resist remains is removed by etching; a resist removal step in which the resist that is no longer necessary when etching has been completed is removed; a device assembly step; and an inspection step. In this case, in the lithography step, the exposure method described previously is implemented using the exposure apparatus in the embodiments described above and a device pattern is formed on the glass substrate, and therefore, the devices with a high integration degree can be manufactured with high productivity. 
     Incidentally, a plurality of components of each of the embodiments described above can be combined as needed. Accordingly, a part of the plurality of components may not be used. 
     Incidentally, the disclosures of all the Patent Application Publications, the International Publications, the U.S. Patent Application Publications and the U.S. Patents related to exposure apparatuses and the like that are cited in the embodiments described above are each incorporated herein by reference. 
     INDUSTRIAL APPLICABILITY 
     As is described so far, the carrier device and the carrying method of the present invention are suitable for carrying objects. Further, the exposure apparatus and the exposure method of the present invention are suitable for exposing objects. Further, the manufacturing method of flat-panel displays of the present invention is suitable for production of flat-panel displays. Further, the device manufacturing method of the present invention is suitable for production of microdevices. 
     REFERENCE SIGNS LIST 
     
         
           10  . . . liquid crystal exposure apparatus, 
           20  . . . substrate stage device, 
           22  . . . base frame, 
           24  . . . coarse movement stage, 
           26  . . . weight cancelling device, 
           28  . . . X guide bar, 
           32  . . . noncontact holder, 
           34  . . . auxiliary tables, 
           40  . . . substrate carrier, 
         P . . . substrate.