Patent Publication Number: US-2023142778-A1

Title: Storage Cassette for Replaceable Parts for Plasma Processing Apparatus

Description:
RELATED APPLICATIONS 
     The present application claims the benefit of priority to U.S. Provisional Application No. 63/276,764, filed Nov. 8, 2021, and U.S. Provisional Application No. 63/317,611 filed Mar. 8, 2022, both of which are incorporated by reference herein. 
    
    
     FIELD 
     The present disclosure relates generally to processing workpieces and more particularly to automated replacement of replaceable parts in a system for processing workpieces, such as semiconductor workpieces, under vacuum. 
     BACKGROUND 
     Processing systems which expose workpieces such as, semiconductor wafers or other suitable substrates, to an overall treatment regimen for forming semiconductor devices or other devices can perform a plurality of treatment steps, such as plasma processing (e.g., strip etch, etc.), thermal treatment (e.g. annealing), deposition (e.g., chemical vapor deposition), etc. To carry out these treatment steps, a system can include one or robots to move workpieces a number of different times, for example, into the system, between various processing chambers, and out of the system. In semiconductor workpiece processing, it can be necessary from time to time to perform routine maintenance and/or preventative maintenance on processing systems. This can require, in certain instances, physical replacement of certain parts in the processing systems. 
     SUMMARY 
     Aspects and advantages of embodiments of the present disclosure will be set forth in prat in the following description, or can be learned from the description, or can be learned through practice of the invention. 
     An example embodiment of the present disclosure is directed to a portable device (e.g., a storage cassette) for use in an automated replaceable part (e.g., focus ring) replacement system for use with a workpiece processing system (e.g., for processing semiconductor wafers). The cassette is configured to hold one or more replaceable parts, one or more workpieces and one or more pedestal protectors. The cassette also includes a divider configured to separate the one or more replacement parts from the one or more workpieces and/or one or more pedestal protectors. The cassette is configured to be disposed in a storage chamber of a workpiece processing apparatus to facilitate automated replacement of replacement parts in one or more processing chambers. 
     Other example aspects are directed to systems and methods for processing a workpiece. Variations and modifications can be made to example aspects of the present disclosure. 
     These and other features, aspects and advantages of various embodiments will become better understood with reference to the following description and appended claims. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the related principles. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Detailed discussion of embodiments directed to one of ordinary skill in the art are set forth in the specification, which makes reference to the appended figures, in which: 
         FIG.  1    depicts a plan view of an example processing system according to example embodiments of the present disclosure. 
         FIG.  2    depicts a plan view of an example processing system according to example embodiments of the present disclosure. 
         FIG.  3    depicts an example transfer position according to example embodiments of the present disclosure. 
         FIG.  4    depicts an example workpiece column according to example embodiments of the present disclosure. 
         FIG.  5    depicts an example robotic arm motion pattern according to example embodiments of the present disclosure. 
         FIG.  6    depicts an example flow diagram of an example method according to example embodiments of the present disclosure. 
         FIG.  7    depicts an example flow diagram of an example method according to example embodiments of the present disclosure. 
         FIG.  8    depicts a perspective view of an example end effector according to example embodiments of the present disclosure. 
         FIG.  9 A  depicts a perspective view of a first configuration of support elements on the end effector of  FIG.  8    for supporting an example workpiece and focus ring according to example embodiments of the present disclosure. 
         FIG.  9 B  depicts a side view of the support elements on the end effector shown in  FIG.  9 A  according to example embodiments of the present disclosure. 
         FIG.  10 A  depicts a perspective view of a second configuration of support elements on the end effector of  FIG.  8    for supporting an example workpiece and focus ring according to example embodiments of the present disclosure. 
         FIG.  10 B  depicts a side view of the support elements on the end effector shown in  FIG.  10 A  according to example embodiments of the present disclosure. 
         FIG.  11 A  depicts a partial perspective view of a third configuration of support elements on the end effector of  FIG.  8    for supporting an example workpiece and focus ring according to example embodiments of the present disclosure. 
         FIG.  11 B  depicts a side view of the support elements on the end effector shown in  FIG.  11 A  according to example embodiments of the present disclosure. 
         FIG.  12    depicts a perspective view of a focus ring adjustment assembly of an example processing system according to example embodiments of the present disclosure. 
         FIG.  13 A  depicts a side, sectional view of the adjustment assembly shown in  FIG.  12    with a focus ring in a lowered position according to example embodiments of the present disclosure. 
         FIG.  13 B  depicts a side, sectional view of the adjustment assembly shown in  FIG.  12    with a focus ring in a raised position according to example embodiments of the present disclosure. 
         FIG.  14 A  depicts a section view of a first embodiment of a focus ring for use with the adjustment assembly shown in  FIG.  12    according to example embodiments of the present disclosure. 
         FIG.  14 B  depicts a section view of a second embodiment of a focus ring for use with the adjustment assembly shown in  FIG.  12    according to example embodiments of the present disclosure. 
         FIG.  15    depicts a top-down view of a pin support plate of the adjustment assembly shown in  FIGS.  14 A- 14 B  according to example embodiments of the present disclosure. 
         FIG.  16    depicts a schematic view of an actuating system for the adjustment assembly shown in  FIGS.  14 A- 14 B  according to example embodiments of the present disclosure. 
         FIG.  17    depicts a plasma processing apparatus according to example embodiments of the present disclosure. 
         FIG.  18    depicts a focus ring adjustment assembly holding a focus ring of a plasma processing apparatus in a first position according to example embodiments of the present disclosure. 
         FIG.  19    depicts a focus ring adjustment assembly holding a focus ring of a plasma processing apparatus in a second position according to example embodiments of the present disclosure. 
         FIG.  20    depicts aspects of an example storage cassette for replaceable parts according to example embodiments of the present disclosure. 
         FIG.  21    depicts aspects of an example storage cassette for replaceable parts according to example embodiments of the present disclosure. 
         FIG.  22    depicts aspects of an example storage cassette cover according to example embodiments of the present disclosure. 
         FIG.  23 A  depicts aspects of an example storage cassette for replaceable parts according to example embodiments of the present disclosure. 
         FIG.  23 B  depicts aspects of an example storage cassette for replaceable parts according to example embodiments of the present disclosure. 
         FIG.  23 C  depicts aspects of an example storage cassette for replaceable parts according to example embodiments of the present disclosure. 
         FIG.  24 A  depicts aspects of an example storage cassette for replaceable parts according to example embodiments of the present disclosure. 
         FIG.  24 B  depicts aspects of an example storage cassette for replaceable parts according to example embodiments of the present disclosure. 
         FIG.  25    depicts aspects of an example storage cassette disposed within a storage chamber of a workpiece processing system according to example embodiments of the present disclosure. 
         FIG.  26    depicts aspects of an example storage cassette disposed within a storage chamber of a workpiece processing system according to example embodiments of the present disclosure. 
         FIG.  27    depicts aspects of an example end effector removing a pedestal cover from a storage cassette disposed within a storage chamber of a workpiece processing system according to example embodiments of the present disclosure. 
         FIG.  28    depicts aspects of an example end effector removing a replaceable part from a storage cassette storage cassette disposed within a storage chamber of a workpiece processing system according to example embodiments of the present disclosure. 
         FIG.  29    depicts aspects of an example end effector removing a replaceable part from a storage cassette storage cassette disposed within a storage chamber of a workpiece processing system according to example embodiments of the present disclosure. 
         FIG.  30    depicts aspects of an example end effector removing a replaceable part from a storage cassette storage cassette disposed within a storage chamber of a workpiece processing system according to example embodiments of the present disclosure. 
         FIG.  31    depicts an example flow diagram of an example method according to example embodiments of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     Reference now will be made in detail to embodiments, one or more examples of which are illustrated in the drawings. Each example is provided by way of explanation of the embodiments, not limitation of the present disclosure. In fact, it will be apparent to those skilled in the art that various modifications and variations can be made to the embodiments without departing from the scope or spirit of the present disclosure. For instance, features illustrated or described as part of one embodiment can be used with another embodiment to yield a still further embodiment. Thus, it is intended that aspects of the present disclosure cover such modifications and variations. 
     Example aspects of the present disclosure are directed to systems and methods for automated replacement of replaceable parts in semiconductor workpiece processing equipment. The systems and methods can provide for manipulating the replaceable parts through a vacuum apparatus. Example replaceable parts can include focus rings used in plasma processing chambers (e.g., plasma dry etch chambers) for semiconductor workpieces. 
     In workpiece processing systems, preventative maintenance can be performed by trained technicians that perform physical acts of labor to replace replaceable parts, such as focus rings in plasma dry etch chambers. In vacuum processing systems, this can require venting of the processing chambers to atmosphere and opening of the processing chambers for access. This can lead to expensive downtime in semiconductor device manufacturing processes. In addition, when a processing chamber is open to the environment, the potential contamination of other processing parts has increased risk and other chamber parts can need to be removed and/or replaced. 
     For instance, a process for performing maintenance on semiconductor processing equipment has included monitoring for a trigger condition, such as workpiece count, plasma exposure time (e.g., for a plasma processing tool), etc. Upon occurrence of a trigger condition, a vacuum processing chamber can be taken offline, reducing workpiece throughput. A service technician can implement processing chamber conditioning (e.g., plasma cleaning) to put the vacuum processing chamber in a safe opening state. After conditioning, the technician can vent the vacuum processing chamber. The technician can open the vacuum processing chamber to access the interior and start removal of certain chamber parts (e.g., focus rings). After cleaning of any unremoved parts, replacement parts can be added to the processing chamber and the vacuum processing chamber can be closed and evacuated. Once back online, some qualification workpieces can be run through the vacuum processing chamber. Once the vacuum processing chamber is producing a successful result, the processing chamber can be put back into semiconductor device production. 
     According to example aspects of the present disclosure, workpiece processing equipment can be configured to automatically replace certain process chamber parts through robotics that are typically found in workpiece processing equipment. More particularly, unused replaceable parts can be loaded into a storage area and made accessible to the vacuum transport robotics. The robotics can interface with a workpiece processing module to remove a consumed (used) chamber part and then replace it with a new (non-consumed) chamber part. The used part can then be returned to the storage area where it can be removed without the need to disrupt the workpiece processing chamber. 
     In some embodiments, the systems and methods according to example aspects of the present disclosure can be used to replace focus rings used in plasma processing chambers. A focus ring can be positioned around a periphery of a workpiece supported on a workpiece support (e.g., having cathode or bias electrode) in a plasma processing apparatus. The focus ring can be used, for instance, to shape the plasma in the vicinity of the workpiece. During plasma processing in a plasma processing chamber, the focus ring can be exposed to plasma and as such is exposed to deposition and erosion. As a result, focus rings may need to be periodically replaced in plasma processing chambers as part of preventative maintenance for a workpiece processing system. 
     Aspects of the present disclosure are discussed with reference to a focus ring as a replaceable part. Those of ordinary skill in the art, using the disclosures provided herein, will understand that aspects of the present disclosure are applicable for replacing other replaceable parts in a vacuum processing chamber without deviating from the scope of the present disclosure. 
     In some embodiments, the systems can monitor for a trigger condition, such as a workpiece count, plasma exposure time, etc. Upon occurrence of the trigger condition, an in-situ plasma dry clean process can be implemented to prepare the vacuum processing chamber. Once the in-situ plasma dry clean process is complete, a lift mechanism outside of the vacuum processing chamber but coupled inside the chamber can use a set of pins to lift a focus ring that sits around a workpiece support in the vacuum processing chamber. After lifting the focus ring, a workpiece handling robot can enter the chamber and lift the ring off the pins in a vertical motion. The robot can retract and rotate to place the used focus ring on a shelf in a storage location. In some embodiments, the workpiece handling robot can hand off the focus ring to a second robot for placement into a storage location. 
     The robot can then move to a different shelf of the storage location and retrieve a new focus ring. After rotation to the vacuum processing module, the robot can extend to the needed position and the drop down to place the focus ring on the lift pins. After the robot retracts from the vacuum processing module, the system can lower the lifting pins and drop the ring into final position around the workpiece support (e.g., including cathode). A conditioning plasma can be used to stabilize process performance in the workpiece processing chamber and the vacuum processing chamber can be brought back online for normal operation. A test workpiece (e.g., obtained from the storage location) can be used to test the processing module with a test process prior to bringing the process module back online for normal operation. 
     Example aspects of the present disclosure are directed to a portable device (e.g., a storage cassette) for storing replaceable parts, such as focus rings, in an automated system for replacement of parts in a plasma processing system. In some embodiments, a storage cassette can hold a plurality of replacement parts (e.g., about 10 focus rings), a silicon wafer, and a pedestal cover (e.g., electrostatic chuck cover). The silicon wafer can be used as the test workpiece to provide verification of focus ring placement after replacement of the focus ring according to example embodiments of the present disclosure. The pedestal cover can allow for protection of the pedestal (e.g., electrostatic chuck) during focus ring replacement according to example embodiments of the present disclosure. The storage cassette can include a divider that separates the focus rings from the pedestal cover and/or the semiconductor wafer. The divider can assist with maintaining the cleanliness of the semiconductor wafer and the cover. 
     In some embodiments, the portable device (e.g., storage cassette) can be used to store multiple pieces of process kit to enable automated process kit replacement. The cassette can be installed in a storage chamber which can be attached to the integrated wafer processing system. The workpiece processing system can include a transfer module (with a workpiece handling robot) with one or more process modules attached to it. 
     In some embodiments, the storage cassette can include a base plate, and two vertical datum plates opposing each other that are mounted on the base plate. Multiple shelves can be mounted on the datum plates. Each shelf can include a pair of fins, one mounted on each datum plate. One example of process kit is a focus ring. 
     In some embodiments, there can be a plurality of shelves for holding a plurality of focus rings, such as six focus rings, seven focus rings, eight focus rings, nine focus rings, ten focus rings, eleven focus rings, twelve focus rings, or any other number of focus rings. There can be additional shelves acting as a temporary buffer, such as two additional shelves acting as a temporary buffer. Below the bottom focus ring shelf can be a divider plate that spans from one datum plate to another. Below the divider plate can be a shelf for holding a silicon wafer and a shelf for holding a pedestal cover. These two shelves can include fins with different geometries (e.g., different shapes and/or configurations) than the focus ring shelves. 
     In some embodiments, there can be a brace mounted across the top of the two datum plates to provide enhanced structural support. A cassette cover can be installed on the cassette to protect the contents of the cassette, as well as provide a grip location for moving the cassette. The cover can have two alignment pins that engage into the top of the cassette. Two rods are used to lock the cover to the cassette at the bottom. 
     In some embodiments, the cassette does not include any power assisted actuator or pneumatic actuator. 
     In some embodiments, a lift mechanism in the storage chamber can be used to move the portable device (e.g., storage cassette) up and down in a vertical direction to align one of the plurality of shelves with a slit. A workpiece handling robot can insert an endeffector through the slit in the storage chamber to grab one of the replaceable parts (e.g., focus ring, semiconductor wafer, pedestal cover, etc.). 
     in some embodiments, the portable device (e.g., storage cassette) can be configured for use in pressure ranges between vacuum and atmospheric pressure. In some embodiments, the portable device (e.g., storage cassette) can be configured for use in environments having temperature of about 50° C. or less. The portable device (e.g., storage cassette) can be configured for use in an inert environment. 
     In some embodiments, a method can include receiving a storage cassette into a storage chamber of a workpiece processing platform. The method can include vertically actuating the storage cassette to a first vertical position. The method can include grabbing with an endeffector a pedestal cover from the storage cassette. The pedestal cover can be placed on a pedestal of a processing station in the workpiece processing system. 
     The method can include obtaining a used replaceable part (e.g., focus ring) from a processing station. The method can include vertically actuating the storage cassette to a second vertical position and placing the used replaceable part (e.g., focus ring) on a shelf in the storage cassette. The method can include vertically actuating the storage cassette to a third vertical position and grabbing with an endeffector a clean replaceable part (e.g. focus ring). The clean replaceable part can be placed on the processing station in the workpiece processing system. 
     The method can include removing the pedestal cover from the processing station. The method can include vertically actuating the storage cassette to the first vertical position to place the pedestal cover back into the storage cassette. The method can include vertically actuating the storage cassette to a fourth vertical position and grabbing with the endeffector the semiconductor wafer from the storage cassette. The semiconductor wafer can be placed on the processing station to perform test processes with the clean replaceable part (e.g., focus ring). The method can include grabbing the semiconductor wafer with the endeffector. The method can include placing with the endeffector the semiconductor wafer back into the storage cassette. 
     Aspects of the present disclosure can provide a number of technical effects and benefits. For instance, the robotic arm motion pattern provided herein can facilitate access to replaceable parts in process chambers having multiple processing stations, such as two processing stations. Furthermore, the storage chamber provided herein allows for storage of used replaceable parts and retrieval of new replaceable parts for the process chambers without having to break the overall vacuum of the system. In sonic embodiments, test workpieces can be included in the storage chamber to be used in testing of replaceable parts after placement. The contact between the pins and the focus ring can prevent lateral movement of the focus ring as the focus ring is raised and lowered to ensure the focus ring is precisely concentric to the electrostatic chuck or other workpiece support. The end effector support elements provided herein can reduce total number of parts, which reduces costs, and simplifies control patterns for moving the end effector. Further, the spatial configuration of the support pads on the end effector can utilize existing openings of process chambers for moving replaceable parts into and out of process chambers. Locating the lift pin outside of the RF zone and having the lift pin penetrate the ground plane can reduce arcing risks associated with applying RF power (e.g. bias power) from a RF source to the bias electrode during a plasma process. Furthermore, there can be reduced interference (e.g., electrical and mechanical) between the lift pin and the focus ring. The portable device (e.g., storage cassette) can provide for a hardware mechanism for automated replacement of replaceable parts (e.g., focus rings) as well as verification. The portable device (e.g., storage cassette) can fit within tight clearances in a storage chamber attached to a workpiece processing system. The portable device (e.g., storage cassette) can include a divider to keep a test semiconductor water and/or pedestal cover clean during automated replacement of replaceable parts. 
     Referring now to the FIGS., example embodiments of the present disclosure will now be described. 
       FIG.  1    depicts an example workpiece processing system  100  according to example embodiments of the present disclosure. The processing system  100  can include a front end portion  112 , one or more loadlock chambers  114 , a transfer chamber  115  and a plurality of process chambers, including a first process chamber  120  and a second process chamber  130 . The system can include a first workpiece handling robot  150  for transferring workpieces to and from the workpiece column  110  in the loadlock chamber  114  and the first process chamber  120  and second process chamber  130  and/or between the first process chamber  120  and the second. process chamber  130 . 
     The front end portion  112  can be configured to be maintained at atmospheric pressure and can be configured to engage workpiece input devices  118 . The workpiece input devices  118  can include, for instance, cassettes, front opening unified pods, or other devices for supporting a plurality of workpieces. Workpiece input devices  118  can be used to provide preprocess workpieces to the processing system  100  or to receive post-process workpieces from the processing system  100 . 
     The front end portion  112  can include one or more robots (not illustrated) for transferring workpieces from workpiece input devices  118  to, for instance, the loadlock chamber  114 , such as to and from a workpiece column  110  located in the loadlock chamber  114 . In one example, the robot in the front end portion  112  can transfer preprocess workpieces to the loadlock chamber  114  and can transfer post-process workpieces from the loadlock chamber  114  to one or more of the workpiece input devices  118 . Any suitable robot for transferring workpieces can be used in the front end portion  112  without deviating from the scope of the present disclosure. Workpieces can be transferred to and or from the loadlock chamber  114  through a suitable slit, opening, or aperture. 
     The loadlock chamber  114  can include a workpiece column  110  configured to support a plurality of workpieces in a stacked arrangement. The workpiece column  110  can include, for instance, a plurality of shelves. Each shelf can be configured to support one or more workpieces. In one example implementation, the workpiece column  110  can include one or more shelves for supporting preprocess workpieces and one or more shelves for supporting post-process workpieces. 
     In some embodiments, appropriate valves can be provided in conjunction with the loadlock chamber  114  and other chambers to appropriately adjust the process pressure for processing the workpieces. In some embodiments, the loadlock chamber  114  and the transfer chamber  115  can be maintained at the same pressure. In this embodiment, there is no need to seal the loadlock chamber  114  from the transfer chamber  115 . Indeed, in some embodiments, the loadlock chamber  114  and the transfer chamber  115  can be a part of the same chamber. 
     A single loadlock chamber  114  is illustrated in  FIG.  1   . Those of ordinary skill in the art, using the disclosures provided herein, will understand that multiple loadlock chambers  114  can be used in any of the processing systems described herein without deviating from the scope of the present disclosure. For instance, the system  100  can include a first loadlock chamber to transfer workpieces into a vacuum portion of the system  100  and a second loadlock chamber to transfer workpieces out of a vacuum portion of the system  100 . 
     The first process chamber  120  and the second process chamber  130  can be used to perform any of a variety of workpiece processing on the workpieces, such as vacuum anneal processes, surface treatment processes, dry strip processes, dry etch processes, deposition processes, and other processes. In some embodiments, one or more of the first process chamber  120  and the second process chamber  130  can include plasma based process sources such as, for example, inductively coupled plasma (ICP) sources, microwave sources, surface wave plasma sources, ECR plasma sources, and capacitively coupled (parallel plate) plasma sources. 
     As illustrated, each of the first process chamber  120  and second process chamber  130  includes a pair of processing stations in side-by-side arrangement so that a pair of workpieces can be simultaneously exposed to the same process. More particularly, the first process chamber  120  can include a first processing station  122  and a second processing station  124  in side-by-side arrangement. The second process chamber  130  can include a first processing station  132  and a second processing station  134  in side-by-side arrangement. Each processing station can include a workpiece support (e.g., a pedestal) for supporting a workpiece during processing. In some embodiments, each processing station can share a common pedestal with two portions for supporting a workpiece. In some embodiments, the workpiece support can include a pedestal assembly including a baseplate, an electrostatic chuck configured to support the workpiece and a replaceable part. The replaceable part can include a focus ring arranged relative to the electrostatic chuck such that at least a portion of the focus ring at least partially surrounds a periphery of the workpiece when the workpiece is positioned on the electrostatic chuck. The first process chamber  120  and/or the second process chamber  130  can be selectively sealed off from the transfer chamber  115  for processing. 
     The transfer chamber  115  can include a workpiece handling robot  150 . The workpiece handling robot  150  can be configured to transfer workpieces from the workpiece column  110  in the loadlock chamber  114  to the processing stations in the first process chamber  120  and/or the second process chamber  130 . The workpiece handling robot  150  can also transfer workpieces between the first process chamber  120  and the second process chamber  130 . 
     As shown in  FIG.  1   , the workpiece processing system  100  can include a storage chamber  250  for storing new and/or used replaceable parts (e.g., focus rings) coupled to the transfer chamber  115 . In some embodiments, the storage chamber is mounted to a rear side of a transfer chamber  115 . The storage chamber  250  can include a plurality of shelves configured to support replaceable parts. The shelves can be configured such that a plurality of replaceable parts can be supported in a vertical/stacked arrangement. In certain embodiments, the shelves can be coupled to an elevator such that the elevator is configured to move replaceable parts up and down within the storage chamber  250 . In some embodiments, the storage chamber  250  can include one or more test workpieces. For instance, one or more of the shelves can be configured to support a test workpiece. 
     In some embodiments, the storage chamber  250  is a vacuum capable storage chamber capable of being maintained at the same vacuum as the transfer chamber  115 . In certain other embodiments, the storage chamber  250  is configured such that it can be sealed off from the transfer chamber  115 . The vacuum capable storage chamber can include one or more access doors configured to allow the workpiece handling robots to access replaceable parts in the storage chamber. For example, the access doors are large enough such that the workpiece handling robots can place a used replaceable part on a shelf within the storage chamber  250  and can remove a new replaceable part from one of the shelves. Accordingly, replaceable parts can be placed in or removed from the storage chamber  250  without breaking the vacuum of the overall system. 
     In some embodiments, the storage chamber  250  can include one or more access doors configured to allow for replacement of new or used replaceable parts from the atmospheric surrounding environment. For example, in certain embodiments the storage chamber  250  in communication with the transfer chamber  115  can be sealed off such that the transfer chamber  115  remains at a desired process pressure. The storage chamber  250  can then be accessed and serviced from the atmospheric environment such that used replaceable parts can be removed from the storage chamber  250  and new replaceable parts can be placed within the storage chamber  250 . After service of the storage chamber  250  is complete, the storage chamber  250  can. be brought back to the desired process pressure utilizing any known system for establishing a process pressure within the storage chamber  250 . Once at the desired process pressure is achieved, such as the same process pressure or vacuum as the transfer chamber  115 , the storage chamber  250  can be unsealed from the transfer chamber  115  such that one or more of the workpiece handling robots can again access the storage chamber  250 . 
     The workpiece handling robot  150  can be configured to transfer replaceable parts among the storage chamber  250  and the various processing stations for automated replacement of replaceable parts without breaking vacuum. For example, the workpiece handling robot  150  can be used to transfer replaceable parts from the first process chamber  120  or the second process chamber  130  to the storage chamber  250 . The workpiece handling robot  150  can also be used to transfer replaceable parts from the storage chamber  250  to the first process chamber  120  or the second process chamber  130 . In certain embodiments the workpiece handling robot  150  can retrieve a used replaceable part from one of the processing stations in the first process chamber  120  and/or second process chamber and transfer the used part to the storage chamber  250 . The workpiece handling robot  150  can also retrieve a new replaceable part from the storage chamber  250  and transfer the new replaceable part to one of the processing stations of either the first process chamber  120  or the second process chamber  130 . 
     The workpiece handling robot can be coupled a controller, such that the controller can be used to control the workpiece handling robot for transferring new or used replaceable parts to and from the storage chamber and process chambers  120  and  130 . The controller can be configured to control motion of the workpiece handling robot  150  according to a robotic arm motion pattern  280  (shown in  FIG.  5   ) for accessing the one or more processing stations of the first process chamber  120  or the second process chamber  130 . 
     Referring now to  FIG.  2   , the processing system  200  can include additional process chambers, including a third process chamber  170  and fourth process chamber  180 . The third process chamber  170  is disposed in linear arrangement with the first process chamber  120  and the fourth process chamber  180  is disposed in linear arrangement with the second process chamber  130  such that the third process chamber  170  and the fourth process chamber  180  are disposed on opposing sides of the transfer chamber  195 . 
     The third process chamber  170  and the fourth process chamber  180  can be used to perform any of a variety of workpiece processing on the workpieces, such as vacuum anneal processes, thermal treatment process, surface treatment processes, dry strip processes, dry etch processes, deposition processes, and other processes. In some embodiments, one or more of the third process chamber  170  and the fourth process chamber  180  can include plasma based process sources such as, for example, inductively coupled plasma (ICP) sources, microwave sources, surface wave plasma sources, ECR plasma sources, and capacitively coupled (parallel plate) plasma sources. In particular embodiments, the focus rings can be used in plasma processing sources used to provide a direct ion plasma etch process. 
     As illustrated, each of the third process chamber  170  and fourth process chamber  180  includes a pair of processing stations in side-by-side arrangement so that a pair of workpieces can be simultaneously exposed to the same process. More particularly, the third process chamber  170  can include a first processing station  172  and a second processing station  174  in side-by-side arrangement. The fourth process chamber  180  can include a first processing station  182  and a second processing station  184  in side-by-side arrangement. Each processing station can include a workpiece support (e.g., a pedestal) for supporting a workpiece during processing. In some embodiments, each processing station can share a common pedestal with two portions for supporting a workpiece. In some embodiments, the workpiece support can include a pedestal assembly including a baseplate, an electrostatic chuck configured to support the workpiece and a replaceable part. The replaceable part can include a focus ring arranged relative to the electrostatic chuck such that at least a portion of the focus ring at least partially surrounds a periphery of the workpiece when the workpiece is positioned on the electrostatic chuck. In some embodiments, the third process chamber  170  and/or the fourth process chamber  180  can be selectively sealed off from the transfer chamber  115  for processing. 
     To transfer workpieces to the third process chamber  170  and second process chamber  180 , the system  200  can further include a transfer position  162  and a second workpiece handling robot  190 . The transfer position  162  can be a part of the transfer chamber  162  or can be a separate chamber. The transfer position  162  can include a support column  160  for supporting a plurality of workpieces in a stacked arrangement and/or side-by-side arrangement. For instance, the support column  160  can include a plurality of shelves configured to support workpieces in a stacked vertical arrangement. The first workpiece handling robot  150  can be configured to transfer workpieces from the workpiece column  110 , the first process chamber  120 , or the second process chamber  130  to the workpiece column  160  in the transfer position  162 . A second workpiece handling robot  190  can be configured to transfer workpieces from the support column  160  in the transfer position  162  to the processing stations in the third process chamber  170  and/or the fourth process chamber  180 . The workpiece handling robot  190  can also transfer workpieces from the third process chamber  170  to the fourth process chamber  180 . 
     As shown in  FIG.  2   , the workpiece processing system  200  can include a storage chamber  250  for storing new and/or used replaceable parts (e.g., focus rings) coupled to the transfer chamber. The storage chamber is mounted to a rear side of a transfer chamber. The workpiece handling robots  150  and  190  can be configured to transfer replaceable parts among the various transfer positions and processing stations for automated replacement of replaceable parts without breaking vacuum. In some embodiments, the storage chamber  250  can store test workpieces. 
     To transfer replaceable parts between the first process chamber  120 , second process chamber  130  and the storage chamber  250 , the system  200  can utilize the second workpiece handling robot  190  to transfer new or used replaceable parts from the storage chamber  250  to the support column  160  in the transfer position  162 . The transfer position  162  can be a part of the transfer chamber  162  or can be a separate chamber. The transfer position  162  can include a support column  160  for supporting a plurality of replaceable parts in a stacked arrangement. For instance, the support column  160  can include a plurality of shelves configured to support replaceable parts in a stacked vertical arrangement. Accordingly, in some embodiments, the support column  160  is configured such that it can support both workpieces and replaceable parts in a stacked arrangement. The first workpiece handling robot  150  can be configured to transfer replaceable parts from the support column  160  to the side-by-side processing stations  122  and  124  of the first process chamber  120  or the side-by-side processing stations  132  and  134  of the second process chamber  130 . The second workpiece handling robot  190  can be configured to transfer replaceable parts from the support column  160  in the transfer position  162  to the side-by-side processing stations  172  and  174  in the third process chamber, the side-by-side processing stations  182  and  184  in the fourth process chamber  180 , and/or the storage chamber  250 . 
     For removing used replaceable parts or providing new replaceable parts to one or more processing stations, the workpiece handling robots  150  and  190  can utilize a robotic arm motion pattern. For example, a controller can be utilized to control the motions of end effector on the arm of the workpiece handling robots  150  and  190  to control the motion of the end effector when accessing a processing station to transfer a replaceable part. The workpiece handling robot  150  can utilize the robotic arm motion pattern to access the processing stations  122 ,  124 ,  132 , and  134 . The workpiece handling robot  190  can utilize the robotic arm motion pattern to access the processing stations  172 ,  174 ,  182 , and  184 . 
     The processing system  200  includes four process chambers  120 ,  130 ,  170 , and  180  and can be configured to simultaneously process up to eight workpieces at a time. Additional process stations can be added in linear fashion to provide additional processing capability. For instance, a fifth process chamber can be added in linear arrangement with the third process chamber  170 . A sixth process chamber can be added in linear arrangement with the fourth process chamber  180 . An additional transfer position and workpiece handling robot can be used to transfer workpieces to and from the fifth and sixth process chambers. Additional processing chambers can be included by extending the processing system in linear fashion in this manner. 
     In certain embodiments, the workpiece storage chamber can be located at other locations within the processing system without deviating from the scope of the present disclosure. For instance, in some embodiments, the workpiece storage chamber could be located above or below a transfer position (e.g., transfer position  162  of processing system  200 ). In addition, one or more of the processing chambers of a workpiece processing system (e.g., processing stations  120 ,  130 ,  170  or  180  of processing system  200 ) can be replaced with a storage chamber for new and/or used replaceable parts according to example embodiments of the present disclosure. 
     In other embodiments, the storage chamber  250  can be located at other locations within the processing system without deviating from the scope of the present disclosure. For example, the storage chamber could be disposed on one or more of the process chambers  120 ,  130 ,  170 , and/or  180 . The storage chamber could also be located above or below a transfer position (e.g., transfer position  162  of processing system  200 ). In addition, one or more of the processing chambers of a workpiece processing system (e.g., processing stations  120 ,  130 ,  170  or  180  of processing system  200 ) can be replaced with a storage chamber for new and/or used replaceable parts according to example embodiments of the present disclosure. 
       FIG.  3    depicts an example transfer mechanism  260  mounted to a processing chamber of a workpiece processing system  200  according to example embodiments of the present disclosure. The transfer mechanism  260  can be coupled directly to the processing chamber  130 . In other embodiments, the transfer mechanism  260  can be coupled to any of the processing chambers including  120 ,  130 ,  170 , and/or  180 . As shown, the transfer mechanism  260  can include a replaceable part storage location  262  (e.g., shelves) that can be used to store used and new replaceable parts (e.g., focus rings). The transfer mechanism  260  can include robotics  270  configured to transfer replaceable parts to its proper position in the processing station. 
       FIG.  3    depicts a side view of an example support column  160  in a transfer position  162  according to example embodiments of the present disclosure. As shown, the support column  160  can include a plurality of shelves  161 . Each shelf  161  can be configured to support a workpiece  163  so that a plurality of workpieces  163  can be arranged on the support column in a vertical/stacked arrangement. Each shelf  161  can also be configured to support a replaceable part  165  so that a plurality of replaceable parts  165  can be arranged on the support column  160  in a vertical/stacked arrangement. Accordingly, the shelves  161  of the support column  160  are configured such that they can support both workpieces  163  and replaceable parts  165 . In certain embodiments, the replaceable part  165  can have a larger diameter as compared to the workpiece  163 . Accordingly, the shelves  161  are configured such that they can support a replaceable part  165  having a larger diameter than a workpiece  163 . In certain embodiments, the replaceable part can include a focus ring. Focus rings utilized in the systems provided herein can have a larger diameter as compared to workpieces. Accordingly, the support column  160  is configured such that it can support both workpieces and focus rings having larger diameters. 
     In some embodiments, the transfer position can have an opening or aperture that passes all the way through the transfer position so that workpiece handling robots can transfer workpieces and or replaceable parts using a direct transfer between robots. 
       FIG.  4    depicts a side view of an example workpiece column  110  according to example embodiments of the present disclosure. As shown, the workpiece column  110  can include a plurality of shelves  111 . Each shelf  111  can be configured to support a workpiece  113  so that a plurality of workpieces  113  can be arranged on the workpiece column  110  in a vertical stacked arrangement. 
     In some embodiments, alternative approaches to the delivery of replaceable parts in a workpiece processing system can be used without deviating from the scope of the present disclosure. For example, additional transfer mechanism (e.g., robots, shuttle mechanisms, multi-axis robotics) can be mounted to a process chamber to transfer replaceable parts into and out of the process chamber. 
       FIG.  5    depicts an example robotic arm motion pattern according to example embodiments of the present disclosure. As shown, the system  100  includes a workpiece handling robot  150  having an arm with an end effector  500 . As shown in  FIG.  5   , the end effector  500  can be moved within the system  100  according to multiple directional movements. For example, the end effector  500  can be located inside the transfer chamber  115 , When it is time to retrieve a used replaceable part  165  from one of the side-by-side processing stations ( 122  or  124 , as shown), the end effector  500  can move into one of the processing stations according to a robotic arm motion pattern  280 . 
     The robotic arm motion pattern  280  can include extending in a first direction for a first period of time, extending in a second direction generally lateral to the first direction for a second period of time, and extending in a third direction that is different from the first direction and second direction for a third period of time. As shown, the robotic arm motion pattern  280  can be utilized to place the end effector  500  into one of the processing stations  122  or  124 . 
     In some embodiments the robotic arm motion pattern can include extending the end effector  500  in a first direction for a first period of time such that the end effector enters the processing chamber  120 . Accordingly, in some embodiments, extending the end effector  500  in the first direction moves the end effector from the transfer chamber  115  into the process chamber  120 , but does not place the end effector  500  within one of the side-by-side processing stations  122 ,  124 . The end effector  500  can then be moved according to a second direction that is generally lateral to the first direction in order to place the end effector  500  within one of the side-by-side processing chambers  122 ,  124 . As used herein, “generally lateral” or “lateral to” refers to within about 45° of perpendicular to the first direction. In some embodiments, the second direction can range from about 10° to about 70°, such as 20° to about 60°, such as 30° to about 50°, of perpendicular to the first direction. The end effector  500  can then be moved in a third direction to ensure proper placement of the end effector  500  in the processing station  122  such that retrieval of a used replaceable part can be accomplished. In some embodiments, the third direction can be within 30° or less of perpendicular to the first direction. In some embodiments, the end effector  500  can also be removed from the processing station  122  according to the same robotic arm motion pattern, For example, the end effector  500  can be retracted back into the transfer chamber  115  according to the same robotic arm motion pattern  280 . 
     In certain embodiments, the end effector  500  can have a new replaceable part  165  thereon. For example, the end effector  500  can retrieve a new replaceable part  165  from either the support column  160  or the storage chamber  250 . The end effector  500  having the new replaceable part  165  thereon can then place the new replaceable part  165  within the processing station  122  according to the example robotic arm motion pattern provided herein. For example, the end effector can be moved in a first direction for a first period of time to access the process chamber  120 , moved in a second direction lateral to the first direction for a second period of time to access one of the side-by-side processing stations  122 , and moved in a third direction different from the first direction and second direction for a third period of time in order to ensure proper placement of the new replaceable part  165  in one of the side-by-side processing stations  122 ,  124 . 
     The robotic arm motion pattern  280  disclosed herein can be utilized by one or more workpiece handling robots of the system. For example, workpiece handling robots  150  and  190  can both be coupled to a controller capable of executing the robotic arm motion pattern  280  described herein. The robotic arm motion pattern  280  can be utilized by workpiece handling robots  150  and  190  to access any of the side-by-side processing stations  122 ,  124 ,  132 ,  134 ,  172 ,  174 ,  182 , and  184  of the respective process chambers  120 ,  130 ,  170  and  180 , disclosed herein. 
     In some embodiments, the workpiece handling robots can be configured to transfer workpieces and replaceable parts using a scissor motion. For example, the workpiece handling robot  150  can simultaneously transfer the workpieces from the workpiece column in the loadlock chamber  114  to the two side-by-side processing stations  122  and  124  in the first process chamber  120  using, for instance, a scissor motion. Similarly, the workpiece handling robot  150  can simultaneously transfer workpieces from the workpiece column  110  in the loadlock chamber  4  to the two side-by-side processing stations  132  and  134  in the second process chamber  130  using, for instance, a scissor motion. The workpiece handling robot  190  can simultaneously transfer the workpieces from the support column  160  in the transfer position  162  to the two side-by-side processing stations  172  and  174  in the third process chamber  170  using, for instance, a scissor motion. The workpiece handling robot  190  can simultaneously transfer the workpieces from the support column  160  in the transfer position  162  to the two side-by-side processing stations  182  and  184  in the fourth process chamber  180  using, for instance, a scissor motion. 
     In some embodiments, a controller can be configured to adjust motion of the end effector to transfer replaceable parts (e.g., focus rings) based at least in part data received from one or more sensors (e.g., sensors associated with automated wafer centering system). For instance, optical sensor(s) can be used to monitor the motion of a replaceable part during the motion pattern. To ensure the proper placement of the replaceable part, the control can adjust the motion pattern in real time as the workpiece handling robot is transferring the replaceable part to provide for proper placement of the replaceable part with reduced error. 
     In some embodiments, one or more sensors can be used to determine the position of a replaceable part after being transferred into a process chamber by the workpiece handling robot. The sensors can include, for instance, one or more optical sensors. A controller can be configured to control the workpiece handling robot to adjust the position of the replaceable part when sensor measurements indicate the replaceable part has been positioned incorrectly (e.g., not concentrically with the workpiece support). 
       FIG.  6    depicts a flow diagram of one example method ( 300 ) according to example aspects of the present disclosure. The method ( 300 ) includes a method for replacing replaceable parts in a system for processing workpieces. The method ( 300 ) will be discussed with reference to the system of  FIG.  2    by way of example. The method ( 300 ) can be implemented in any suitable processing apparatus.  FIG.  6    depicts steps performed in a particular order for purposes of illustration and discussion. Those of ordinary skill in the art using the disclosures provided herein, will understand that various steps of any of the methods described herein can be omitted, expanded, performed simultaneously, rearranged, and/or modified in various ways without deviating from the scope of the present disclosure. In addition, various steps (not illustrated) can be performed without deviating from the scope of the present disclosure. 
     At ( 302 ) the method can include removing a used replaceable part  165  from a processing station  122 ,  124 ,  132 ,  134 ,  172 ,  174 ,  182 , or  184 . The workpiece handling robot  150  can move the end effector  500  thereon from the transfer chamber  115  to the process chamber  120  and into the processing station  122  according to a robotic arm motion pattern. The robotic arm motion pattern can include extending the end effector  500  in a first direction for a first period of time, extending the end effector  500  in a second direction lateral to the first direction for a second period of time, and extending the end effector  500  in a third direction different from the first direction and the second direction for a third period of time. Once the end effector  500  is in correct placement within the processing chamber  122 , the replaceable part can be placed on the end effector  500 . In some embodiments, the end effector  500  can lift the replaceable part  165  from a raised location within the processing station  122 . For example, a plurality of pins connected to a lifting mechanism can be used to raise the replaceable part  165  from its processing location to a raised position. Once in a raised position, the end effector  500  can easily be placed under the replaceable part  165  for lifting the replaceable part  165  from the one or more pins. 
     Once the replaceable part  165  is placed on the end effector  500 , the end effector  500  can be retracted back into the transfer chamber  115  via the robotic arm motion pattern, For example, the end effector  500  having the used replaceable part  165  thereon can be retracted according to a third direction different from the first direction and second direction for a third period of time, retracted according to a second direction lateral to the first direction for a second period of time, and retracted according to a first direction for a first period of time until the end effector  500  having the replaceable part  165  thereon is located back within the transfer chamber  115 . 
     At ( 304 ) the method includes transferring the replaceable part to the storage chamber. Transferring the replaceable part  165  to the storage chamber  250  can include utilizing the workpiece handling robot  150  to place the used replaceable part  165  on the support column  160  in the transfer position  162 . For example, the used replaceable part  165  can be placed on one of the shelves  161  located in the support column  160  in a stacked arrangement. The workpiece handling robot  190  can then remove the used replaceable part  165  from the shelf  161  from the support column  160  and transfer the replaceable part  165  to the storage chamber  250 . The workpiece handling robot  190  can place the used replaceable part  165  on one of the shelves located within the storage chamber  250 . 
     At ( 306 ) the method includes removing a new replaceable part from the storage chamber. The workpiece handling robot  190  can remove a new replaceable part  165  from one of the shelves in the storage chamber  250  and place the new replaceable part on one of the shelves  161  within the support column  160  in the transfer position  162  in a stacked arrangement. 
     At ( 308 ) the method includes transferring the new replaceable part to a processing station. Once the new replaceable part  165  is placed on one of the shelves  161  in the support column  160 , workpiece handling robot  150  can access the support column  160  to remove the new replaceable part  165 . Workpiece handling robot  150  can then be utilized to place the new replaceable part inside one of the side-by-side processing stations according to the robotic arm motion pattern. For example, the workpiece handling robot  150  can move the end effector  500  having the new replaceable part  165  thereon from the transfer chamber  115  to the process chamber  120  and into the processing station  122  according to a robotic arm motion pattern. The robotic arm motion pattern can include extending the end effector  500  in a first direction for a first period of time, extending the end effector  500  in a second direction lateral to the first direction for a second period of time, and extending the end effector  500  in a third direction different from the first direction and the second direction for a third period of time. Once the end effector  500  is in correct placement within the processing chamber  122 , the new replaceable part  165  can be deposited within the processing station in any suitable manner. For example, in one embodiment, the replaceable part  165  (e.g. focus ring) can be placed on a plurality of pins in a raised position. Once securely placed on the pins, the pins can be lowered to place the replaceable part in a desired location within the processing station  122 , such that further workpiece processing can be accomplished. 
     Once the replaceable part  165  is placed within the processing station  122 , the end effector can be retracted back into the transfer chamber  115  via the robotic arm motion pattern  280 . For example, the end effector  500  can be retracted according to a third direction different from the first direction and second direction for a third period of time, retracted according to a second direction lateral to the first direction for a second period of time, and retracted according to a first direction for a first period of time until the end effector  500  is located back within the transfer chamber  115 . 
     In some embodiments, the workpiece handling robot can remove a test workpiece from the storage location. The test workpiece can be transferred to the processing station. A test process can be performed with the test workpiece. Data collected during the test process and/or characteristics of the test workpiece can be monitored to determine proper placement of the replaceable part. 
     Advantageously, the method ( 300 ) can be performed to allow for the automated replacement of replaceable parts without having to break vacuum of the processing system. Further, the method ( 300 ) allows for replacement of replaceable parts utilizing workpiece handling robots that are capable of transferring both workpieces and replaceable parts that are larger than the workpieces. Also, the robotic arm motion pattern allows for the end effector of the workpiece handling robot to enter one of the side-by-side processing stations, such that a replaceable part can be replaced. 
       FIG.  7    depicts a flow diagram of one example method ( 400 ) according to example aspects of the present disclosure. The method ( 400 ) includes a method for processing workpieces. The method ( 400 ) will be discussed with reference to the system of  FIG.  2    by way of example. The method ( 400 ) can be implemented in any suitable processing apparatus.  FIG.  7    depicts steps performed in a particular order for purposes of illustration and discussion. Those of ordinary skill in the art using the disclosures provided herein, will understand that various steps of any of the methods described herein can be omitted, expanded, performed simultaneously, rearranged, and/or modified in various ways without deviating from the scope of the present disclosure. In addition, various steps (not illustrated) can be performed without deviating from the scope of the present disclosure. 
     At ( 402 ), the method includes transferring a plurality of workpieces to a workpiece column in a loadlock chamber. For instance, a plurality of workpieces can be transferred from a front end portion of processing system to a workpiece column  110  in a loadlock chamber  114 . The workpieces can be transferred to the workpiece column  110 , for instance, using one or more robots associated with the front end portion of the processing system. 
     At ( 404 ) the method includes using a workpiece handling robot to transfer workpieces from the workpiece column to the processing stations in the first process chamber and/or second process chamber. For instance, the workpiece handling robot  150  can transfer two workpieces to processing station  122  and processing station  124  respectively in process chamber  120 . 
     At ( 406 ) the method includes performing a first treatment process on the plurality of workpieces in the first process chamber and/or second process chamber. The first treatment process can include, for instance, an anneal process, a thermal treatment process, a surface treatment process, a dry strip processes, a dry etch process, a deposition process or other process. 
     At ( 408 ), the method can include transferring, with the workpiece handling robot a plurality of workpieces to a transfer position. Workpiece handling robot  150  can transfer two workpieces to processing station  122  and processing station  124  respectively in process chamber  120 . In some embodiments, the workpiece handling robot  150  can transfer workpieces to a workpiece column  160  located at a transfer position  162 , 
     At ( 410 ), the method can include transferring, with a second workpiece handling robot  190  disposed in the transfer chamber, the plurality of workpieces from the transfer position to at least two processing stations in a third process chamber and/or fourth process chamber. The third process chamber can be disposed in linear arrangement with the first process chamber and. the fourth process chamber can be disposed in linear arrangement with the second process chamber. For instance, workpiece handling robot  190  can transfer two workpieces from workpiece column  160  in the transfer position  162  to processing station  172  and processing station  174  respectively in process chamber  170 . 
     At ( 412 ) the method can include performing a second treatment process on the plurality of workpieces in the third process chamber and/or fourth process chamber. The third treatment process can include, for instance, an anneal process, a thermal treatment process, a surface treatment process, a dry strip processes, a dry etch process, a deposition process or other process. 
     At ( 414 ), the method can include transferring, by the workpiece handling robot  190 , the plurality of workpieces back to the transfer position. For instance, workpiece handling robot  190  can transfer workpieces from the process chamber  170  and/or the process chamber  180  to a workpiece column  160  located at the transfer position  162 . 
     At ( 416 ), the method can include transferring the processed workpieces back to the workpiece column in the loadlock chamber. For instance, workpiece handling robot  150  can transfer two workpieces from the first process chamber  120  and/or the second process chamber  130 . In some embodiments, workpiece handling robot  150  can transfer two workpieces from the transfer position  162  to the workpiece column in the loadlock chamber. One or more robots located in a front end of the processing system can then transfer to processed workpieces to, for instance, a cassette. 
     As shown, ( 404 )-( 416 ) can be repeated according to the number of workpieces desired for processing. After the desired number of workpieces have been processed or another trigger condition occurs, the method can include replacing replaceable parts ( 418 ) in the processing stations. For example, replaceable parts, such as focus rings, can need to be replaced after exposure to a certain number of processing treatments. Replacing the replaceable parts ( 418 ) can be accomplished by way of method  300  provided herein. Accordingly, the present systems and methods allow for the automated processing of workpieces and the automated replacement of replacement parts without having to break the vacuum or alter the process pressure of the system. 
     Turning now to  FIGS.  9 - 12 B , example embodiments of an end effector are depicted according to example embodiments of the present disclosure. More particularly,  FIG.  8    depicts a perspective view of an example end effector for use within the systems described above.  FIGS.  10 A- 10 B  depict a first configuration of support elements on the end effector of  FIG.  8    for supporting an example workpiece and focus ring. Moreover,  FIGS.  11 A- 11 B  depict a second configuration of support elements on the end effector of  FIG.  8    for supporting an example workpiece and focus ting. Additionally,  FIGS.  12 A- 12 B  depict a partial perspective view of a third configuration of support elements on the end effector of  FIG.  8    for supporting an example workpiece and focus ring. 
     As shown in  FIG.  8   , the end effector  500  described above with reference to the system  100 ,  200  can extend along a longitudinal axis  502  between a proximal end  504  and a distal end  506 , and between an upper surface  500 US and a lower surface  500 LS along a vertical direction V 1 . The end effector  500  is generally symmetric about the longitudinal axis  502 . The end effector  500  includes an arm portion  508  and a spatula portion  510 . The arm portion  508  generally extends between a first arm end  512  and a second arm end  514  along the longitudinal axis  502 , with the first arm end  512  being at or adjacent to the proximal end  504 . Similarly, the spatula portion  510  extends between a first spatula end  516  and a second spatula end  518 . The first spatula end  516  is at or adjacent to the second arm end  514  and the second spatula end  518  is at or adjacent to the distal end  506 . The end effector  500  is configured to be attached to or otherwise actuatable by a robot (e.g., workpiece handling robot  150 ,  190 ) by its arm portion  508 , such that the spatula portion  510  can be guided under a raised workpiece or replaceable part (e.g., a focus ring). 
     In general, the end effector  500  can be configured to separately support workpieces and replaceable parts, where the workpieces have a different diameter than the replaceable parts. For example, as shown in  FIGS.  10 A,  11 A, and  12 A , the end effector  500  can be configured to support a workpiece  163  having a diameter  163 D and a focus ring  165  having an inner diameter  165 ID and an outer diameter  165 OD. In some embodiments, the diameter  163 D of the workpiece  163  is smaller than the outer diameter  165 OD of the focus ring  165 . The diameter  163 D of the workpiece can be larger than the inner diameter  165 ID of the focus ring  165 . To keep the workpiece  163  and replaceable part secure when being separately moved by the end effector  500 , one or more support pads or elements can be provided on the upper surface of the effector  500 . 
     In one embodiment, such as the embodiment shown in  FIGS.  10 A and  10 B , it is desirable to have separate support elements for workpieces and focus rings to prevent cross-contamination from used focus rings. For example, first support elements SE 1  are provided to support the workpiece  163  and second support elements SE 2  are provided to support the focus ring  165 . At least one of the first support elements SE 1  is positioned on the arm portion  508  and at least one other of the first support elements SE 1  is positioned on the spatula portion  510 . Similarly, at least one of the second support elements SE 2  is positioned on the arm portion  508  and at least one other of the second support elements SE 2  is positioned on the spatula portion  510 . In one embodiment, two separate first support elements SE 1  are provided on the arm portion  508  and on the spatula portion  510 , where the support elements SE 1  are similar or the same in shape. Further, two separate second support elements SE 2  are provided on the spatula portion  510  and one elongated second support element SE 2  is provided on the arm portion  508 . However, any suitable number and shape of support elements SE 1 , SE 2  can instead be provided on the arm portion  508 . For instance, one, three, or more first support elements SE 1  or two or more second support elements SE 2  can be provided on the arm portion  508 . Further, the first support element(s) SE 1  on the arm portion  508  can instead have an elongated shape like the second support element SE 2  shown in  FIG.  9 A . Additionally, the second support element(s) SE 2  on the arm portion  508  can instead have the same shape as the second support element(s) SE 2  on the spatula portion  510 . 
     The support elements SE 1 , SE 2  are spaced apart such that the first support elements SE 1  can only support workpieces and such that the second support elements SE 2  can only support focus rings. For instance, in  FIG.  9 B , the first support elements SE 1  are spaced apart by a distance D 1  along the longitudinal axis  502 , the second support elements SE 2  are spaced apart by a distance D 2  along the longitudinal axis  502 , and the support elements SE 1 , SE 2  on the arm portion  508  and the support elements SE 1 , SE 2  on the spatula portion  510  are respectively spaced apart by a third distance D 3 . However, in some embodiments the support elements SE 1 , SE 2  on the arm portion  508  can instead be spaced apart by a different distance than the support elements SE 1 , SE 2  on the spatula portion  510 . The distances D 1 , D 2 , and D 3  are selected such that, when a workpiece is supported on the first support elements SE 1 , the workpiece does not contact the second support elements SE 2 . Similarly, when a focus ring is supported on the second support elements SE 2 , the focus ring does not contact the first support elements SE 1 . 
     In some embodiments, the second support elements SE 2  on the spatula portion  510  are positioned closer to the distal end  506  of the end effector  500  than the first support elements SE 1  on the spatula portion  510 . Similarly, in one embodiment, the second support elements SE 2  on the arm portion  508  are positioned closer to the proximal end  504  of the end effector  500  than the first support elements SE 1  on the arm portion  508 . 
     Further, in some embodiments, the first support elements SE 1  on the spatula portion  510  are positioned further from the longitudinal axis  502  than the second support elements SE 2  on the spatula portion  510 . For instance, the first support elements SE 1  on the spatula portion  510  are spaced apart from the axis  502  by a first distance L 1  in a direction generally perpendicular to the axis  502 , and the second support elements SE 2  on the spatula portion  510  are spaced apart from the axis  502  by a second distance L 2  in the direction generally perpendicular to the axis  502 , where the first distance L 1  is greater than the second distance L 2 . 
     In another embodiment, such as the embodiment shown in  FIGS  11 A . and  11 B, the risk of cross-contamination between used focus rings and workpieces is relatively low, such that one or more support elements can be configured to support both workpieces and focus rings. For instance, in addition to the first support elements SE 1  and the second support elements SE 2  on the spatula portion  510 , a common or shared support element CSE 1  is provided on the arm portion  508 . The shared support element CSE 1  is configured to, together with the first support elements SE 1 , support the workpiece  163  and, together with the second support elements SE 2 , support the focus ring  165 . 
     Similar to  FIG.  9 B , in  FIG.  10 B , the first and second support elements SE 1 , SE 2  are spaced apart such that the first support elements SE 1  and a first contact area CA 1  of the shared support element CSE 1  can only support workpieces, and such that the second support elements SE 2  and a second contact area CA 2  of the shared support element CSE 1  can only support focus rings. For example, the first support elements SE 1  and the first contact area CA 1  are spaced apart by a distance D 1  along the longitudinal axis  502 , the second support elements SE 2  and the second contact area CA 2  are spaced apart by a distance D 2  along the longitudinal axis  502 , and the support elements SE 1 , SE 2  on the arm portion  508  and the contact areas CA 1 , CA 2  on the spatula portion  510  are respectively spaced apart by a third distance D 3 . However, in sonic embodiments the contact areas CA 1 , CA 2  on the arm portion  508  can instead be spaced apart by a different distance than the support elements SE 1 , SE 2  on the spatula portion  510 . The distances D 1 , D 2 , and D 3  are selected such that, when a workpiece is supported on the first support elements SE 1  and the first contact area CAL the workpiece does not contact the second support elements SE 2  or the second contact area CA 2 . Similarly, when a focus ring is supported on the second support elements SE 2  and the second contact area CA 2 , the focus ring does not contact the first support elements SE 1  or the first contact area CA 1 . As such, the first contact area CAI for supporting the workpiece  163  is separate from or does not overlap with the second contact area CA 2  for supporting the focus ring  165 . 
     As described above, in some embodiments, the second support elements SE 2  on the spatula portion  510  are positioned closer to the distal end  506  of the end effector  500  than the first support elements SE 1  on the spatula portion  510 . Similarly, in one embodiment, the second contact area CA 2  is positioned closer to the proximal end  504  of the end effector  500  than the first contact area CAI of the shared support element CSE 1  on the arm portion  508 , 
     Further, in some embodiments, the first support elements SE 1  on the spatula portion  510  are positioned further from the longitudinal axis  502  than the second support elements SE 2  on the spatula portion  510 . For instance, the first support elements SE 1  on the spatula portion  510  are spaced apart from the axis  502  by a first distance L 1  in a direction generally perpendicular to the axis  502 , and the second support elements SE 2  on the spatula portion  510  are spaced apart from the axis  502  by a second distance L 2  in the direction generally perpendicular to the axis  502 , where the first distance L 1  is greater than the second distance L 2 . 
     Alternatively, in some embodiments, such as the embodiment shown in  FIGS.  12 A and  12 B , the first and second contact areas CAL CA 2  at least partially overlap. For instance, as shown in  FIG.  1 A , a workpiece and a focus ring separately supported on the end effector  500  are configured to be supported across a common contact area CCA on the shared support element CSE 1 . For example, as shown in  FIG.  11 B , the first support elements SE 1  and the common contact area CCA are spaced apart by a distance D 1  along the longitudinal axis  502 , the second support elements SE 2  and the common contact area CCA are spaced apart by a distance D 2  along the longitudinal axis  502 , and the support elements SE 1 , SE 2  on the arm portion  508  are spaced apart by a third distance D 3 ′. The distances D 1 , D 2 , and D 3 ′ are selected such that, when a workpiece is supported on the first support elements SE 1  or a focus ring is supported on the second support elements SE 2 , the workpiece and the focus ring contact the common contact area CCA. As such, the shared support element CSE 1  can be smaller when the common contact area CCA is allowable than if separate contact areas (such as the contact areas CA 1 , CA 2 ) are used. 
     The embodiment of the end effector  500  shown in  FIGS.  12 A and  12 B  can otherwise be configured the same as the embodiment of the end effector  500  shown in  FIGS.  11 A and  11 B . For instance, as described above, in sonic embodiments, the second support elements SE 2  on the spatula portion  510  are positioned closer to the distal end  506  of the end effector  500  than the first support elements SE 1  on the spatula portion  510 . Further, in some embodiments, the first support elements SE 1  on the spatula portion  510  are positioned further from the longitudinal axis  502  than the second support elements SE 2  on the spatula portion  510 . For instance, the first support elements SE 1  on the spatula portion  510  can be spaced apart from the axis  502  by a first distance in a direction generally perpendicular to the axis  502 , and the second support elements SE 2  on the spatula portion  510  can be spaced apart from the axis  502  by a second distance in the direction generally perpendicular to the axis  502 , where the first distance is greater than the second distance. 
     Referring now to  FIGS.  13 - 17   , an example embodiment of an adjustment assembly for a workpiece processing station described above is depicted. In particular,  FIG.  12    depicts a focus ring adjustment assembly of an example processing system.  FIG.  13 A  depicts a side, sectional view of the adjustment assembly shown in  FIG.  12    with a focus ring in a lowered position, Similarly,  FIG.  13 B  depicts a side, sectional view of the adjustment assembly shown in  FIG.  12    with a focus ring in a raised position. Additionally,  FIG.  14 A  depicts a section view of a first embodiment of a focus ring for use with the adjustment assembly shown in  FIG.  12    and  FIG.  15 B  depicts a section view of a second embodiment of a focus ring for use with the adjustment assembly shown in  FIG.  12   . Moreover,  FIG.  15    depicts a top-down view of a pin support plate of the adjustment assembly shown in  FIGS.  14 A- 14 B . Additionally,  FIG.  16    depicts a schematic view of an actuating system for the adjustment assembly shown in  FIGS.  14 A- 14 B  according to example embodiments of the present disclosure. 
     As described above, a workpiece processing system (e.g., system  100 ,  200 ) includes a workpiece support(s) (e.g., station  122 ,  124 ,  132 ,  134 ) within a process chamber (e.g.,  120 ,  130 ,  170 ,  180 ) that is configured to support a workpiece (e.g., workpiece  113 ,  163 ) during a process treatment step(s). As shown in  FIG.  12   , a focus ring  165  is positioned around a periphery or outer diameter of a workpiece supported on a workpiece support  163 . The focus ring  165  can be used, for instance, to shape the plasma in the vicinity of the workpiece. During plasma processing in a plasma processing chamber, the focus ring  165  can be exposed to plasma and as such is exposed to deposition and erosion. As a result, the focus ring  165  can need to be periodically replaced in the plasma processing chamber as part of preventative maintenance. A focus ring adjustment assembly  600  is provided that allows the focus ring  165  to be moved between a working or processing position, in which it is not easily accessible for removal from the process chamber, and one or more raised positions. In at least one of the raised positions, the focus ring is more easily accessible for removal from the process chamber. 
     The focus ring adjustment assembly  600  includes a plurality of pins for supporting the focus ring. instance, as shown in  FIGS.  14 A and  14 B , the focus ring  165  is supported by pins  602  (only one of which is shown). Each pin  602  extends between a proximal end  602 P and a distal end  602 D, where the distal end  602 D is configured to contact the focus ring  165 . As will be described below in greater detail, the pins  602  can be configured to selectively contact a portion of the focus ring  165  (e.g., in a groove) such that lateral movement of the ring  165  on the pins  602  is at least partially prevented or reduced. The assembly  600  further includes a lifting mechanism which can be used to raise or lower the pins  602  to raise the focus ring  165  from a processing position to a raised position or lower the focus ring  165  into a processing position, respectively. In the processing position, the pins  602  may no longer contact the focus ring and the focus ring  165  may be supported by a pedestal (e.g., step structure in the pedestal). As will be described in greater detail below, the assembly  600  further includes floating couplings  604  slidably received within a pin support plate  606 , where the proximal end  602 P of each pin  602  is coupled to a respective one of the floating couplings  604 , and where the pin support plate  616  is movable to raise or lower the pins  602 . 
     In one embodiment, as shown in  FIG.  14 A , the focus ring  165 A. has a stepped cross-sectional profile. More particularly, the focus ring  165 A extends between an upper side  165 US and a lower side  165 LS along the vertical direction V 1 , where the lower side  165 LS has a first surface portion P 1 , a second surface portion P 2 , and a transition portion T 1  between the first and second surface portions P 1 , P 2 . The first surface portion P 1  is vertically above the second surface portion P 2 . In some embodiments, the first surface portion P 1  is radially outside of the second surface portion P 2 . The distal end  602 D of the pin  602  is configured to selectively contact the first surface portion PI (e.g., one or more grooves in the first surface portion P 1 ) such that the focus ring  165 A is prevented from laterally sliding and becoming at least partially unseated from the pins  602 . Additionally, the first surface portion P 1  is generally planar such that the distal end  602 D of the pin  602  makes full contact with the first surface portion P 1  (e.g., one or more grooves or slots in the first surface portion P 1 ). 
     In some embodiments, the focus ring has three backside radial slots to receive the pin(s)  602 . This configuration can fix the position of the focus ring  165 A, allowing for accurate centering of the focus ring on to the pedestal and can also prevent lateral movement. The backside radial slots can also allow for thermal expansion of the focus ring while being supported by the pins  602 . In some embodiments, the focus ring can include a backside annular groove. The backside annular groove extends annularly around the backside surface of the focus ring. The backside annular groove can include an outer diameter and an inner diameter. The pin(s)  602  may be configured to contact the outer diameter. During thermal expansion of the focus ring, the pin(s)  602  may no longer contact the outer diameter but my slide radially in the groove in a direction towards the inner diameter to accommodate thermal expansion of the focus ring. 
     In some embodiments, as shown in  FIG.  14 B , the focus ring  165 B has a grooved cross-sectional profile. More particularly, the focus ring  165 B extends between an upper side  165 US′ and a lower side  165 LS′ along the vertical direction V 1 , and between an inner surface  165 IS′ and an outer surface  165 OS′ along a radial direction, where a groove G 1  is recessed into the lower side  165 LS′ such that it is spaced apart from the inner and outer surfaces  165 IS′,  165 OS′. The groove G 1  can be an annular groove that extends all the way annularly around the focus ring  165 B. The distal end  602 D of the pin  602  is configured to selectively contact at least a portion of the groove G 1 . The groove G 1  defines a first groove portion extending a first distance VD 1  from the lower side  165 LS′ and a second groove portion extending a second distance VD 2  from the lower side  165 LS′. The second distance VD 2  is less than a thickness of the focus ring  165 B defined between the upper and lower sides  165 US′,  165 LS′ along the vertical direction V 1 . A first surface portion P 1 ′ is positioned at the first distance VD 1  from the lower side  165 LS′, a second surface portion P 2 ′ is positioned at the second distance VD 2  from the lower side  165 LS′, a first transition portion T 1 ′ extends between the first surface portion P 1 ′ and the lower side  165 LS′, and a second transition portion T 2 ′ extends between the first and second surface portions P 1 ′, P 2 ′. The second surface portion P 2 ′ is vertically above the first surface portion P 1 ′. The distal end  602 D of the pin  602  is configured to selectively contact at least one of the second surface portion P 2 ′ or the second transition portion T 2 ′. The second surface portion P 2 ′ is generally planar such that the distal end  602 D of the pin  602  can fully contact the second surface portion P 2 ′. Further, in some embodiments, the pin  602  has a main body portion MB extending between its proximal and distal ends  602 P,  602 D and a flange portion FP extending outwardly from the main body portion MB at a distance OH 1  offset from the distal end  602 D. The flange portion FP has a diameter  602 D 2  that is greater than the diameter  602 D 1  of the main body portion MB of the pin  602 . The flange portion FP is configured to contact at least one of the first surface portion P 1 ′ or the first transition portion T 1 ′. As such, the focus ring  165 B is prevented from laterally sliding and becoming at least partially unseated from the pin  602 . 
     Additionally, or alternatively, in some embodiments, the shape of the groove G 1  of the focus ring  165 B, the shape of the pin(s)  602 , or both are configured such that rotation of the pin(s)  602  secures or fixes the focus ring  165 B to the pin(s)  602 . For instance, rotation of the pin(s)  602  through a predetermined locking angle can fix the focus ring  165 B to the pin(s)  602 . 
     A top down view of a suitable pin support plate is shown in  FIG.  15   . The pin support plate  606  has a plurality of floating coupling slots  608  circumferentially spaced apart around the perimeter of the pin support plate  606 . The slots  608  extend generally radially outwardly from the outer perimeter of the plate  606 . However, in some embodiments, the slots  608  can extend radially inwardly from the inner perimeter of the plate  606 . Each floating coupling slot  608  is configured to receive a respective one of the floating couplings  604 . For example, each floating coupling slot  608  has a slot width W 1  which is greater than the outer diameter  604 D 1  of the floating couplings  604 , but smaller than the outer diameter  604 D 2  of a flange portion of the floating couplings  604 , which extends outwardly from the outer diameter  604 D 1  of the floating couplings  604 . As such, the flange portion of the floating coupling  604  can rest on an upper face of the floating coupling slot  608  when installed within the floating coupling slot  608 . Such floating coupling slot  608  can thus, allow the pins  602 . to move slightly in a horizontal plane laterally along an x-axis and/or a y-axis relative to the focus ring  165  or workpiece support. 
     The pin support plate  606  is configured to be actuated between a lowered position and one or more raised positions such that the focus ring  165  is respectively moved between processing position to one or more raised positions. For instance, as shown in  FIG.  13 A , the pin support plate  606  is in its lowered position relative to a main support post  620  fixed within the process chamber and a support ring  622  fixed to the main support post  620 . In such lowered position of the pin support plate  606 , the pins  602  supported on the pin support plate  606  by the floating couplings  604  are in their retracted positions such that the focus ring  165  is in its processing position and is supported by the workpiece support. In some embodiments, the pins  602  can be movable by the pin support plate  606  such that the pins  602  do not touch the focus ring  165  when in their retracted positions. However, in other embodiments, the pins  602  can remain in contact with the focus ring  165  when in their retracted positions. 
     The pin support plate  606  is movable, as will be described in greater detail below, into its raised position shown in  FIG.  13 B  relative to the main support post  620  and support ring  622 . The pin support plate  606  is vertically higher along the vertical direction in its raised position than in its lowered position. As the pin support plate  606  is moved into such raised position, the pins  602  supported on the pin support plate  606  by the floating couplings  604  are moved along the vertical direction into their extended positions such that the focus ring  165  is moved into its raised position above the workpiece support. The focus ring  165  is positioned vertically higher along the vertical direction V 1  when the pins  602  are in their extended positions than when the pins  602  are in their retracted positions. Once in a raised position, an end effector (e.g., the end effector  500 ) can easily be placed under the focus ring  165  for lifting the focus ring  165  from the one or more pins  602 . and out of the chamber. 
     As shown in  FIG.  16   , the assembly  600  further includes a plate actuator  624  for moving the pin support plate  606 . The plate actuator  624  is positioned exterior to the process chamber and is vacuum sealed. More particularly, the plate actuator  624  has a vacuum sealed housing  626  that is coupled to an exterior wall EXT 1  of the process chamber and a connection shaft  628  that extends within the vacuum sealed housing  626  through the exterior wall EXT 1  of the process chamber. The connection shaft  628  supports the pin support plate  606  and is movable relative to the exterior wall EXT 1  by an actuator mechanism  632 . The actuator mechanism  632  is configured to move the connection shaft  628  between a first position along the vertical direction associated with the pin support plate  606  being in the lowered position, and a second position along the vertical direction associated with the pin support plate  606  being in the raised position, and/or one or more different vertical positions. The actuator mechanism  632  can be configured as any suitable actuator for moving the connection shaft  628  between the first and second positions. For instance, in some embodiments, the actuator mechanism  632  is configured as a linear actuator, a rotary actuator, and or the like. By positioning the actuator mechanism  632  exterior to the process chamber, the mechanism  632  can be serviced or replaced without needing to affect the vacuum of the process chamber. 
     The focus rings  165  can be configured to be installed in the chamber with a particular azimuthal orientation relative to the workpiece support. Typically, the focus rings  165  are positioned in a storage chamber (e.g., storage chamber  250 ) to have the proper azimuthal orientation when removed from the storage chamber for installation within the process chamber. However, in some embodiments, it is desirable to further adjust the azimuthal position of the focus rings  165 . In such embodiments, the storage chamber and/or end effector for moving the focus rings  165  can include one or more features for adjusting an azimuthal position of a focus ring  165 . 
     Referring now to  FIG.  17   , a plasma processing apparatus  700  is provided according to example embodiments of the present disclosure. The plasma processing apparatus  700  can include a processing chamber  701  defining a vertical direction V and a lateral direction L. The plasma processing apparatus  700  can include a pedestal  704  disposed within an interior space  702  of the processing chamber  701 . The pedestal  704  can be configured to support a substrate  706 , such as a semiconductor wafer, within the interior space  702 . A dielectric window  710  is located above the pedestal  704  and acts as a ceiling of the interior space  702 . The dielectric window  710  includes a central portion  712  and an angled peripheral portion  714 . The dielectric window  710  includes a space in the central portion  712  for a showerhead  720  to feed process gas into the interior space  702 . 
     In some implementations, the plasma processing apparatus  700  can include a plurality of inductive elements, such as a primary inductive element  730  and a secondary inductive element  740 , for generating an inductive plasma in the interior space  702 . The primary inductive element  730  and the secondary inductive element  740  can each include a coil or antenna element that when supplied with. RF power, induces a plasma in the process gas in the interior space  702  of the processing chamber  701 . For instance, a first RF generator  760  can be configured to provide electromagnetic energy through a matching network  762  to the primary inductive element  730 . A second RF generator  770  can be configured to provide electromagnetic energy through a matching network  772  to the secondary inductive element  740 . 
     While the present disclosure makes reference to a primary inductive element and a secondary inductive element, those of ordinary skill in the art, should appreciate that the terms primary and secondary are used for convenience purposes only. The secondary coil can be operated independently of the primary coil. The primary coil can be operated independently of the secondary coil. In addition, in some embodiments, the plasma processing apparatus can only have a single inductive coupling element. 
     In some implementations, the plasma processing apparatus  700  can include a metal shield  752  disposed around the secondary inductive element  740 . In this manner, the metal shield  752  separates the primary inductive element  730  and the secondary inductive element  740  to reduce cross-talk between the primary inductive element  730  and the secondary inductive element  740 . 
     In some implementations, the plasma processing apparatus  700  can include a first Faraday shield  754  disposed between the primary inductive element  730  and the dielectric window  710 . The first Faraday shield  754  can be a slotted metal shield that reduces capacitive coupling between the primary inductive element  730  and the process chamber  701 . As illustrated, the first Faraday shield  754  can fit over the angled portion of the dielectric window  710 . 
     In some implementations, the metal shield  752 . and the first Faraday shield  754  can form a unitary body  750  for ease of manufacturing and other purposes. The multi-turn coil of the primary inductive element  730  can be located adjacent the first Faraday shield  754  of the unitary body  750 . The secondary inductive element  740  can be located proximate the metal shield  752  of the unitary body  750 , such as between the metal shield  752  and the dielectric window  710 . 
     The arrangement of the primary inductive element  130  and the secondary inductive element  140  on opposite sides of the metal shield  752  allows the primary inductive element  730  and secondary inductive element  740  to have distinct structural configurations and to perform different functions. For instance, the primary inductive element  730  can include a multi-turn coil located adjacent a peripheral portion of the process chamber  701 . The primary inductive element  730  can be used for basic plasma generation and reliable start during the inherently transient ignition stage. The primary inductive element  730  can be coupled to a powerful RF generator and expensive auto-tuning matching network and can be operated at an increased RF frequency, such as at about 13.56 MHz. As used herein, the term “about” refers to a range of values within 20 percent of a stated numerical value. 
     In some implementations, the secondary inductive element  740  can be used for corrective and supportive functions and for improving the stability of the plasma during steady state operation. Furthermore, since the secondary inductive element  740  can be used primarily for corrective and supportive functions and improving stability of the plasma during steady state operation, the secondary inductive element  740  does not have to be coupled to as powerful an RF generator as the primary inductive element  730  and can therefore be designed differently and cost effectively to overcome the difficulties associated with previous designs. As discussed in detail below, the secondary inductive element  740  can also be operated at a lower frequency, such as at about 2 MHz, allowing the secondary inductive element  740  to be very compact and to fit in a limited space on top of the dielectric window. 
     In some implementations, the primary inductive element  730  and the secondary inductive element  740  can be operated at different frequencies. The frequencies can be sufficiently different to reduce cross-talk in the plasma between the primary inductive element  730  and the secondary inductive element  740 . For instance, the frequency applied to the primary inductive element  730  can be at least about 1.5 times greater than the frequency applied to the secondary inductive element  740 . In some embodiments, the frequency applied to the primary inductive element  730  can be about 13.56 MHz and the frequency applied to the secondary inductive element  740  can be in the range of about 1.75 MHz to about 2.15 MHz. Other suitable frequencies can also be used, such as about 400 kHz, about 4 MHz, and about 27 MHz. While the present disclosure is discussed with reference to the primary inductive element  730  being operated at a higher frequency relative to the secondary inductive element  740 , those of ordinary skill in the art, using the disclosures provided herein, should understand that the secondary inductive element  740  could be operated at the higher frequency without deviating from the scope of the present disclosure. 
     In some implementations, the secondary inductive element  740  can include a planar coil  742  and a magnetic flux concentrator  744 . The magnetic flux concentrator  744  can be made from a ferrite material. Use of a magnetic flux concentrator with a proper coil can give high plasma coupling and good energy transfer efficiency of the secondary inductive element  740  and can significantly reduce its coupling to the metal shield  752 . Use of a lower frequency, such as about 2 MHz, on the secondary inductive element  740  can increase skin layer, which also improves plasma heating efficiency. 
     in some implementations, the primary inductive element  730  and the secondary inductive element  740  can carry different functions. For instance, the primary inductive element  730  can be used to carry out the basic functions of plasma generation during ignition and providing enough priming for the secondary inductive element  740 . The primary inductive element  730  can have coupling to both plasma and the grounded shield to stabilize plasma potential. The first Faraday shield  754  associated with the primary inductive element  730  avoids window sputtering and can be used to supply the coupling to the grounded shield. 
     Additional coils can be operated in the presence of good plasma priming provided by the primary inductive element  730  and as such, preferably have good plasma coupling and good energy transfer efficiency to plasma. A secondary inductive element  740  that includes a magnetic flux concentrator  744  provides both a good transfer of magnetic flux to plasma volume and at the same time a good decoupling of the secondary inductive element  740  from the surrounding metal shield  752 . The magnetic flux concentrator  744  and symmetric driving of the secondary inductive element  740  further reduces the amplitude of the voltage between coil ends and surrounding grounded elements. This can reduce sputtering of the dome, but at the same time gives some small capacitive coupling to plasma, which can be used to assist ignition. In some implementations, a second Faraday shield can be used in combination with this secondary inductive element  740  to reduce capacitive coupling of the secondary inductive element  740 . 
     In some implementations, the plasma processing apparatus  700  can include a radio frequency (RF) bias electrode  760  disposed within the processing chamber  701 . The plasma processing apparatus  700  can further include a ground plane  770  disposed within the processing chamber  701  such that the ground plane  770  is spaced apart from the RF bias electrode  760  along the vertical direction V. As shown, the RF bias electrode  760  and the ground plane  770  can, in some implementations, be disposed within the pedestal  704 . 
     In some implementations, the RF bias electrode  760  can be coupled to a RF power generator  780  via a suitable matching network  782 . When the RF power generator  780  provides RF energy to the RF bias electrode  760 , a plasma can be generated from a mixture in the processing chamber  701  for direct exposure to the substrate  706 . In some implementations, the RF bias electrode  760  can define a RF zone  762  that extends between a first end  764  of the RF bias electrode  760  and a second end  766  of the RF bias electrode  760  along the lateral direction L. For instance, in some implementations, the RF zone  762  can span from the first end  764  of the RF bias electrode  760  to the second end  766  of the RF bias electrode  760  along the lateral direction L. The RF zone  762  can further extend between the RF bias electrode  760  and the dielectric window  710  along the vertical direction V. 
     It should be understood that a length of the ground plane  770  along the lateral direction L is greater than a length of the RF bias electrode  760  along the lateral direction L. In this manner, the ground plane  770  can direct RF energy towards emitted by the RF bias electrode  760  towards the substrate  706 . 
     Referring now to  FIGS.  19  and  20   , a focus ring adjustment assembly  800  for a focus ring  790  of the plasma processing apparatus  700  ( FIG.  17   ) is provided according to example embodiments of the present disclosure. As shown, the focus ring adjustment assembly  800  can include a lift pin  810  movable along the vertical direction V to move the focus ring  790  between at least a first position ( FIG.  18   ) and a second position ( FIG.  19   ) to adjust a distance between the focus ring  790  and the pedestal  704  along the vertical direction V, For instance, the focus ring  790  can be spaced apart from the pedestal  704  by a first distance D 1  (e.g., zero or very close to zero such that the focus ring is supported on the pedestal  704 ) when the focus ring  790  is in the first position ( FIG.  18   ). Furthermore, the focus ring  790  can be spaced apart from the pedestal  704  by a second distance D 2  when the focus ring  790  is in the second position ( FIG.  19   ). As shown, the second distance D 2  can be different than the first distance D 1 . In particular, the second distance D 2  can be greater than the first distance D 1 . In this manner, the focus ring adjustment assembly  800 , specifically the pin  810  thereof, can move the focus ring  790  from the first position ( FIG.  18   ) to the second position ( FIG.  19   ) to facilitate removal of the focus ring  790  from the processing chamber  701  using, for instance, the end effector discussed above with reference to  FIGS.  9  through  12 B . 
     As shown, the lift pin  810  can be positioned outside of the RF zone  762  defined by the RF bias electrode  760 . Furthermore, the lift pin  810  can penetrate the ground plane  770 . For instance, in some implementations, the lift pin  810  can extend through an opening defined by the ground plane  770 . It should be understood that locating the lift pin  810  outside of the RF zone  762  and additionally having the lift pin  810  penetrate the ground plane  770  can reduce arcing risks associated with applying RF power (e.g. bias power) from the RF power generator  780  to the RF bias electrode  760  during a plasma process. Furthermore, interference (e.g., electrical and mechanical) between the lift pin  810  and the focus ring  790  can be reduced. 
     In some implementations, the focus ring adjustment assembly  800  can include an actuator  820  configured to move the lift pin  810  along the vertical direction V to facilitate movement of the focus ring  790  between at least the first position ( FIG.  18   ) and the second position ( FIG.  19   ). As shown, the actuator  820  can be positioned outside of the processing chamber  701 . Additionally, the focus ring adjustment assembly  800  can include a second actuator  822  configured to rotate the lift pin  810  about the vertical direction V. As shown, the second actuator  822  can be positioned outside of the processing chamber  701 . 
       FIGS.  20 - 30    depict aspects of an example portable device (e.g., storage cassette) for replaceable parts (e.g., focus rings) according to example embodiments of the present disclosure. 
     More particularly,  FIGS.  20  and  21    depicts a storage cassette  1000  within a storage chamber  1002  of a workpiece processing system according to example embodiments of the present disclosure. As shown in  FIG.  20    the storage chamber  1002  includes a housing  1010  having an interior  1012  for housing the storage cassette  1000 . The housing can include a two-part configuration. For example, the housing can include a bottom portion  1014  and a cover  1016 . The cover  1016  can be pivotally mounted to the bottom portion  1014  using any suitable means. For example, in one embodiment, hinges can be used to connect the cover  1016  to the bottom portion  1014 . In other embodiments, the cover  1016  may be completely separable from the bottom portion  1014 . The cover  1016  is movable from a closed position to an open position. When the cover  1016  is in an open position, the interior  1012  of the housing  1010  is exposed so that a storage cassette  1000  can be placed in the storage chamber  1002 . As shown, the bottom portion  1014  and cover  1016  can define at least a portion of the sidewalls  1018 . While in other embodiments, the sidewalls  1018  may be defined entirely by either the cover  1016  or the bottom portion  1014  (not shown). Additionally, a mechanical device  1020  (e.g., a pneumatic lift) may be positioned on the sidewalls  1018  to facilitate lifting the cover  1016  to an open position. In certain embodiments, a controller can be utilized to lift the cover  1016  to an open position so that the storage cassette  1000  can be placed in the interior  1012  of the storage chamber  1002 . Additional lifting mechanisms or sensors can also be incorporated as needed. One or more locking mechanisms can be utilized to securely lock the cover  1016  to the bottom portion  1014 . Additional slits or other openings may be present on the storage chamber  1002 , such that the contents of the storage cassette  1000  can be accessed within the storage chamber  1002 . One or more pneumatic actuators  1015  or other mechanical actuators can be disposed on the storage chamber  1002  to move the cassette  1000  disposed therein as will be further discussed hereinbelow. The cassette  1000  includes a cassette cover  1200  and vertical datum plate(s)  1400  on which one or more shelves  1410  are mounted. The shelves  1410  can hold one or more replaceable parts  1300 . Additional features of the cassette  1000  are discussed further hereinbelow. 
       FIG.  22    depicts an example cassette cover  1200  according to example embodiments of the present disclosure. The cassette cover  1200  includes a top  1202 , bottom portion  1204 , and sidewall  1206 . As shown, the sidewall  1206  can be a continuous wall defining and outer surface  1208  and an inner surface  1210 . Together, the top  1202 , bottom portion  1204 , and sidewalls  1206  define an interior into which a storage cassette  1000  can be housed. One or more handles  1212  can be coupled to the outer surface  1208  of the sidewall  1206 . The handles  1212  can be utilized to carry and/or move the cassette  1000  to position in the storage chamber  1002 . The material for the top  1202 , bottom portion  1204 , and sidewall(s)  1206  of the cassette cover  1200  can be formed from any suitable plastic material. For example, in certain embodiments the plastic material includes any thermoset or thermosetting plastics. Examples of thermoset plastics include polyurethanes, polyesters, epoxy resins, and phenolic resins. In certain embodiments, the plastic material includes polycarbonate plastics. The plastic material can be transparent so that contents within the cassette cover  1200  are viewable. However, in other embodiments, the plastic material may be opaque, such that the contents of the cassette cover  1200  are not viewable. The cassette cover  1200  further includes a base perimeter  1214  disposed around the perimeter of the bottom portion  1204  of the cassette cover  1200 . The base perimeter  1214  can be formed from a different material than the top  1202 , bottom portion  1204 , and sidewall(s)  1206  of the cover  1200 . For example, the base perimeter can be formed from acrylonitrile butadiene styrene, Nylon, polyetheretherketone, or combinations thereof. One or more alignment pins  1216  are disposed along the top  1202  of the cassette cover  1200  and are configured to engage the cassette  1002 , when it is disposed in the cassette cover  1200 . The alignment pins  1216  help to facilitate appropriate positioning of the cassette  1000  in the interior of the cassette cover  1200 . The alignment pins  1216  can further secure the cassette  1000  to ensure that the cassette  1000  and contents placed on the cassette  1000  (e.g., replacement parts, workpieces, pedestal covers, etc.) do not fall off the cassette  1000 . The cassette cover  1200  includes one or more rods  1218   a ,  1218   b  that generally extend across the bottom of the cassette cover  1200 , on which the cassette  1000  can be mounted and secured. While the illustrated embodiments show two rods, the disclosure is not so limited. Indeed, any number of rods can be incorporated into the cassette cover  1200  in order to facilitate securing the cassette  1000  within the interior of the cassette cover  1200 . Advantageously, the cassette cover  1200  is configured to protect the cassette  1000  and the contents disposed thereon from the ambient environment. 
       FIGS.  23  and  24    depict details of an example storage cassette  1000  according to example embodiments of the present disclosure.  FIG.  23 A  illustrates a cassette  1000  disposed within a cassette cover  1200 .  FIG.  23 B  illustrates the connection between the cassette  1000  and one or more rods  1218  of the cassette cover  1200 . As shown, the cassette  1000  can include a platform  1250  having a channel disposed therein sized and shaped so as to retain the rod  1218  and, thus, secure the cassette  1000  to the cover  1200 . Once the cassette  1000  is placed within the cover  1200 , the alignment pins  1216  can be inserted into one or more apertures  1260  disposed in a brace  1270  located along the top of the cassette  1000 , as depicted in  FIG.  23 C . Accordingly, use of the alignment pins  1216  can further secure the cassette  1000  within the cassette cover  1200 . 
     The cassette  1000  includes one or more includes a base plate  1400  and two vertical datum plates  1402   a ,  1402   b  mounted opposite from each other on the base plate  1400 . While, two vertical datum plates are shown, the disclosure is not so limited, indeed, any number of datum plates  1402  can be utilized. For example, in certain embodiments a single datum plate  1402  can be employer, while in other embodiments three or more datum plates  1402  can be utilized. The datum plates  1402   a,    140   b  each have a plurality of shelves  1410  thereon. one or more replaceable parts  1300  can be place between two shelves  1410  disposed on datum plates  1402   a,    1402   b . Depending on the size of the cassette  1000  and the storage chamber  1002  any number of shelves  1410  can be mounted to the datum plates  1402 . For example, in certain embodiments the cassette  1000  includes at least five shelves, such as at least six shelves, such as at least 7 shelves, etc. Furthermore, the shelves  1410  can be configured to be any shape or size as needed to store the replaceable part  1300 . For example, as shown, the replacement part  1300  includes one or more focus rings  1302 . Given the nature of the focus ring, the shelves  1410  do not fully extend from one vertical datum plate  1402   a  to the other  1402   b.  As such, in embodiments, the shelves  1410  include a pair of fins extending from datum plates  1402   a,    1402   b,  and the shelves  1410  do not fully extend between the datum plates  1402   a,    1402   b.  However, in other embodiments where the replacement part  1300  requires additional support, the shelves  1410  can include a continuous shelf that fully extends from one vertical datum plate  1402   a  to the other  1402   b.    
     As shown in  FIG.  24 B , the shelves  1410  generally have a top surface on which a raised pin  1411  is placed. The replacement part  1300  can be placed on top of the pin  1411  such that only a small portion of the surface of the replacement part  1300  is in contact with the pin  1411  and the shelf  1410 . Placement of the raised pins  1411  in such a manner can prevent damage to the replacement part  1300 . For example, as replacement parts  1300  are removed from the cassette  1000 , the raised pin  1411  allows for an end effector of a workpiece handling robot to gently lift the replacement part  1300  from the pin  1411 , such that the replacement part  1300  is not scratched or damaged during removal. 
     A divider  1500  is disposed beneath the shelves  1410  in the z-direction. Additional shelves  1412  and  1414  are disposed beneath the divider  1500  in the z-direction. Shelf  1412  is configured to hold a workpiece (e.g., semiconductor wafer), while shelf  1414  is configured to hold a pedestal cover. The divider  1500  can section off the replacement part shelves  1410  from the workpiece shelf  1412  and the pedestal cover shelf  1414 . The divider  1500  separates the replaceable parts  1300  from the stored workpiece, which can help maintain cleanliness of the semiconductor during storage in the cassette  1000 . As shown, shelves  1412 ,  1414  do not include raised pins and instead include raised platforms  1416  disposed thereon for facilitating storage of the workpiece and pedestal cover. Additional buffer shelves can be disposed between the divider  1500  and shelves  1410 . (Not shown). 
     The cassette  1000  also includes a brace  1460  mounted between the two vertical datum plates  1402   a ,  1402   b.  One end of the brace  1460  can be mounted to a top surface of vertical datum plate  1402   a,  while a second end of the brace  1460  can be mounted to a top surface of vertical datum plate  1402   b.  The brace  1460  can include features or be formed of materials that strengthen the cassette  1000 . As shown, the brace  1460  includes two rods  1462 ,  1464  that run from vertical datum plate  1402   a  to vertical datum plate  1402   b  to provide additional strength to the overall structure and framework of the cassette  1000 . 
     The cassette(s)  1000  as provided herein can be formed from any suitable materials, especially those configured for use in semiconductor processing apparatuses. Further, because semiconductor processing can include a variety of pressures and temperatures, the cassette  1000  provided herein is configured to be operable at a wide variety of pressures and temperatures. For instance, the cassette  1000  can be operable for use in pressure ranges between vacuum and atmospheric pressure. The cassette  1000  can be operable at temperatures of about 50° C. or less. In embodiments, the cassette  1000  does not include a power assisted actuator or a pneumatic actuator. 
       FIGS.  25 - 28    depict vertical actuation of a storage cassette  1000  within a storage chamber  1002  to align shelves  1410 ,  1412 , or  1414  with slits  1602  in the storage chamber  1002 . so an end effector can grab a replaceable part  1300 , semiconductor wafer, or pedestal cover according to example embodiments of the present disclosure.  FIG.  25    illustrates a cassette  1000  disposed in a storage chamber  1002  in a first position. A vertical actuator  1600  is disposed under the cassette in the storage chamber  1002  in order to move the cassette  1000  to a variety of positions within the storage chamber  1002 . The vertical actuator  1600  can include any suitable mechanical actuator capable of moving the cassette  1000  in a vertical direction. For example, the vertical actuator  1600  can include a power assisted actuator or a pneumatic actuator. The vertical actuator  1600  is configured to move the cassette to a variety of vertical positions (e.g., first vertical position, second vertical position, third vertical position, etc.) such that different portions or shelves of the cassette  1000  are aligned with a slit  1602  disposed in the wall of storage chamber  1002 . For example,  FIG.  25   , depicts the cassette  1000  in a first vertical position such that shelf  1414 , which holds the pedestal cover  1470 , is aligned with a slit  1602  disposed in the wall of the storage chamber  1002 . Thus, in such a first vertical position, an end effector or other handling mechanism of a workpiece handling robot can enter the storage chamber  1002  through slit  1602  in order to remove the pedestal cover from shelf  1414 .  FIG.  26   , however, depicts the cassette  1000  is in a second vertical position. Here, one of shelves  1410  is aligned with slit  1602  disposed in the wall of storage chamber  1002 . In such a position, an end effector can enter the storage chamber  1002  through slit  1602  in order to retrieve a clean replacement part from shelf  1410  therein, or to place a used replacement part on one of the available shelves  1410  in the cassette  1000 . Thus, when in second vertical position, replacement parts  1300  can either be removed from or placed in the cassette  1000 . During processing, it may be desirable to first place a used replacement part into the cassette  1000  before removing a clean replacement part  1300  from the cassette. Accordingly, the vertical actuator  1600  can move the cassette  1000  to a second vertical position to place the used replacement part on one of the shelves  1410  and then move the cassette  1000  to a third vertical position, such that a clean replacement part can be removed from the cassette  1000 . Additionally, the vertical actuator  1600  can move the cassette  1000  to a fourth vertical position, such that the test workpiece  1471  disposed on shelf  1412  is aligned with slit  1602  so that the test workpiece  1471  can either be removed from the cassette  1000  or placed back on shelf  1412  of the cassette  1000 . 
       FIG.  27    illustrates an end effector grabbing a pedestal cover  1470  through slit  1602 . As shown, the end effector  1610  enter the storage chamber  1002  through slit  1602  and is able to slide under and engage at least a portion of the pedestal cover  1470  such that the end effector  1610  can remove the pedestal cover  1470  from the cassette  1000 . The end effector  1610  can then transport the pedestal cover  1470  to one or more processing chambers for additional processing (e.g., part replacement). Similarly,  FIG.  28    illustrates an end effector  1610  grabbing a replacement part  1300  through slit  1602 . The end effector  1610  is able to engage and lift a replacement part  1300  from one of the shelves  1410  disposed in the cassette  1000 . Once removed from the shelf  1410 , the end effector  1610  can then remove replacement part  1300  from the storage chamber  1002  through slit  1602 . Once disposed outside of the storage chamber  1002 , the end effector  1610  can then move the replacement part into a processing chamber as needed. 
       FIGS.  29 - 30    depict example grabbing of a replacement part  1300  by an end effector  1610  according to example embodiments of the present disclosure. As shown in  FIG.  29   , the end effector  1610  can be placed under the replacement part  1300  disposed on shelf  1410 . As end effector  1610  is moved upward in a vertical direction, the end effector  1610  can lift replacement part  1300  from the shelf  1410  thereby allowing the replacement part  1300  to securely rest on the end effector  1610  for further transport. As shown in  FIG.  30   , the end effector  1610  can lift replacement part  1300  in a manner such that the replacement part  1300  is lifted from the pin  1411  and can be removed from the cassette  1000  and the storage chamber  1002 . 
       FIG.  31    depicts a flow diagram of an example method  2000  according to example embodiments of the present disclosure. The method  2000  can be implemented, for instance, using the portable device (e.g., storage cassette  1000 ) of  FIGS.  20 - 30   . 
     At  2002 , the method  2000  can include receiving a storage cassette  1000  into a storage chamber  1002  of a workpiece processing platform. For instance, the cassette  1000  can be placed in the interior  1012  of the housing  1010  of the storage chamber. The cover  1016  can be opened in order to allow for access to the interior  1012  of the housing  1010 . The storage cassette  100 , including cassette cover  1200 , can be loaded into position in the interior  1012  of the storage chamber  1002 . Once placed, the cassette cover  1200  can be removed to allow for access to the contents of the cassette  1000 . The cover  1016  can then be placed in a closed condition to seal the storage chamber. 
     At  2004 , the method includes obtaining a pedestal cover from the storage cassette. The storage cassette is vertically actuated to a first vertical position such that the shelf  1414  holding the pedestal cover is in alignment with the slit  1602  in the storage chamber  1002 . An end effector  1610  can then be used to retrieve the pedestal cover  1470  from the storage cassette  1000 . For instance, the end effector  1610  enters the storage chamber  1002  through slit  1602  and remove the pedestal cover  1470  from shelf  1414  on the cassette  1000 . 
     At  2006 , the method includes placing the pedestal cover  1470  on a pedestal of a processing station in the workpiece processing system. For instance, the system includes a workpiece handling robot having an arm with an end effector  1610 . The end effector  1610  can be moved within the system  100  according to multiple directional movements. For instance, when it is time to remove the pedestal cover  1470  from the cassette  1000  and place it on a pedestal in a processing station, the end effector  1610  can move into one of the processing stations according to a robotic arm motion pattern described herein (e.g., robotic arm motion pattern  280 ). The robotic arm motion patterns disclosed herein can be utilized by one or more workpiece handling robots of the system. For example, workpiece handling robots  150  and  190  can both be coupled to a controller capable of executing the robotic arm motion pattern  280  described herein. The robotic arm motion pattern  280  can be utilized by workpiece handling robots  150  and  190  to access any of the side-by-side processing stations  122 ,  124 ,  132 ,  134 ,  172 ,  174 ,  182 , and  184  of the respective process chambers  120 ,  130 ,  170  and  180 , disclosed herein. 
     At  2008 . the method can include obtaining a used replaceable part  1300   a  (e.g., focus ring) from a processing station. The end effector  1610  can be moved into the processing station according to the robotic arm motion pattern in order to grab the used replaceable part  1300  disposed therein. Once the end effector  1610  is in correct placement within the processing chamber  122 , a used replaceable part  1300   a  can be placed on the end effector  1610 . In some embodiments, the end effector  1610  can lift the used replaceable part  1300   a  from a raised location within the processing station. For example, a plurality of pins connected to a lifting mechanism can be used to raise the used replaceable part  1300   a  from its processing location to a raised position. Once in a raised position, the end effector  1610  can easily be placed under the used replaceable part  1300   a  for lifting the used replaceable part  1300   a  from the one or more pins. 
     Once the used replaceable part  1300   a  is placed on the end effector  1610 , the end effector  1610  can be retracted back into the transfer chamber  115  via the robotic arm motion pattern. The used replaceable part  1300   a  can then be transferred back to the cassette  1000  located in the storage chamber  1002 . Transferring the used replaceable part  1300   a  back to the cassette  1000  can include vertically actuating the cassette  1000  to a second vertical position such that one or more shelves  1410 , configured to hold replaceable parts, are in alignment with the slit  1602  of the storage chamber  1002 . Once in second vertical position, the end effector  1610  can utilize a suitable robotic arm motion pattern to place the used replacement part  1300   a  on the shelf  1410  of the cassette  1000 . 
     At  2010 , the method includes obtaining a clean replaceable part  1300   b  from the cassette  1000  and placing the clean replaceable part  1300   b  in the processing station. Obtaining a clean replaceable part  1300   b  from the cassette  1000  includes utilizing the vertical actuator  1600  to move the cassette  1000  to a third vertical position within the storage chamber  1002 . In third vertical position, a shelf  1410  holding a clean replacement part  1300   b  is in alignment with the slit  1602  in the storage chamber  1002  such that the end effector  1610  can move into the storage chamber  1002  to retrieve a clean replaceable part  1300   b  from one of the shelves  1410  therein. For instance, a robotic arm pattern can be used to move the end effector  1610  into correct placement in the storage chamber  1002  and then also to retract the end effector  1610  to place it in correct placement in one of the processing chambers. The end effector  1610  can then place the clean replacement part  1300   b  into position on one or more of a plurality of raised pins located within the processing chamber. Once placed on the pins, the pins can be lowered with a lifting mechanism, in order to lower the clean replaceable part  1300   a  into place in the processing station. The end effector  1610  can be retracted back into the transfer chamber via the robotic arm motion pattern. 
     At  2012 , the method includes obtaining the pedestal cover  1470  from the processing station and placing it back into the storage cassette  1000 . For example, the end effector  1610  can enter the processing station and retrieve the pedestal cover  1470 . For instance, the end effector  1610  can be placed under the pedestal cover  1470  in order to remove the pedestal cover  1470  from the pedestal in the processing station. The end effector  1610  can then be retracted back into the transfer chamber via a suitable robotic arm motion pattern. The storage cassette  1000  is then vertically actuated back to the first vertical position such that the pedestal cover shelf  1414  is in alignment with the slit  1602  of the storage chamber  1002 . The end effector  1610  can then move into the storage chamber  1002  to place the pedestal cover  1470  on pedestal cover shelf  1414  on the cassette  1000 . Once the pedestal cover  1470  is properly places on the pedestal cover shelf  1414 , the end effector  1610  can be removed from the storage chamber  1002 . 
     At  2014 , the method includes obtaining a test workpiece  1471  from the storage cassette  1000  and placing the test workpiece  1471  in the processing station. Obtaining a test workpiece  1471  from the cassette  1000  includes utilizing the vertical actuator  1600  to move the cassette  1000  to a fourth vertical position within the storage chamber  1002 . In fourth vertical position, a shelf  1412  holding a test workpiece  1471  is placed in alignment with the slit  1602  in the storage chamber  1002  such that the end effector  1610  can move into the storage chamber  1002  to retrieve the test workpiece  1471  from shelf  1412  therein. For instance, a robotic arm motion pattern can be used to move the end effector  1610  into correct placement in the storage chamber  1002  and then also to retract the end effector  1610  from the storage chamber  1002 . The end effector  1610  can then move the test workpiece  1471  into placement in one of the processing chambers. Once in the processing chamber, the end effector  1610  can place the test workpiece  1471  onto one of the pedestals therein. 
     At  2016 , the method includes performing one or more test processes in the processing station. For instance, additional test processes can be performed with the test workpiece  1471 . Data collected during the test process and/or characteristics of the test workpiece  1471  can be monitored to determine proper placement of the replaceable part. One or more sensors can be used to monitor test parameters or test workpiece  1471  characteristics in order to provide data regarding the proper placement of the replaceable part. Accordingly, one or more sensors are configured to facilitate determining a position of a replaceable part in the process chamber. 
     At  2018 , the method includes returning the test workpiece  1471  to the storage cassette  1000 . The end effector  1610  enters the processing station and retrieves the test workpiece  1471  from the pedestal therein. Once the test workpiece  1471  is placed on the end effector  1610 , the end effector  1610  can be retracted back into the transfer chamber  115  via a robotic arm motion pattern. The test workpiece can then be transferred back to the cassette  1000  located in the storage chamber  1002 . The end effector  500  can utilize a robotic arm motion pattern to place the test workpiece  1471  on the shelf  1412  of the cassette  1000 . 
     While the present subject matter has been described in detail with respect to specific example embodiments thereof, it will be appreciated that those skilled in the art, upon attaining an understanding of the foregoing can readily produce alterations to, variations of, and equivalents to such embodiments. Accordingly, the scope of the present disclosure is by way of example rather than by way of limitation, and the subject disclosure does not preclude inclusion of such modifications, variations and/or additions to the present subject matter as would be readily apparent to one of ordinary skill in the art.