Source: https://patents.google.com/patent/EP1197801B1/en
Timestamp: 2019-07-24 03:26:00
Document Index: 43299424

Matched Legal Cases: ['arts 55', 'art 67', 'art 71', 'art 71', 'art 67', 'art 71', 'art 71', 'art 67', 'arts 59', 'arts 55', 'arts 59', 'arts 47', 'arts 51', 'arts 55', 'arts 59', 'arts 47', 'art 117', 'art 121', 'art 125', 'art 133', 'arts 121', 'arts 125', 'arts 121', 'arts 125', 'arts 117', 'arts 133', 'arts 121', 'arts 125', 'arts 133', 'arts 133', 'art 117', 'art 119', 'art 155', 'art 117', 'art 157', 'art 119', 'art 159', 'art 117', 'art 161', 'art 119', 'art 117', 'art 155', 'art 119', 'art 161', 'art 117', 'art 159', 'art 119', 'art 157', 'art 119', 'art 117', 'arts 125', 'arts 133', 'arts 121', 'art 121', 'art 123', 'art 121', 'art 123', 'art 121', 'art 123', 'arts 121', 'art 215', 'art 219', 'arts 219', 'art 215', 'arts 215', 'arts 215']

EP1197801B1 - Lithographic device with two object holders - Google Patents
Lithographic device with two object holders Download PDF
EP1197801B1
EP1197801B1 EP01126286A EP01126286A EP1197801B1 EP 1197801 B1 EP1197801 B1 EP 1197801B1 EP 01126286 A EP01126286 A EP 01126286A EP 01126286 A EP01126286 A EP 01126286A EP 1197801 B1 EP1197801 B1 EP 1197801B1
EP01126286A
EP1197801A1 (en
Paulus Martinus Henricus Beek
Gerjan P. Philips CFT Asia Pacific Syst. Veldhuis
1997-10-03 Priority to EP01126286A priority patent/EP1197801B1/en
1997-10-03 Priority to EP19970941149 priority patent/EP0890136B9/en
2002-04-17 Publication of EP1197801A1 publication Critical patent/EP1197801A1/en
2005-12-28 Publication of EP1197801B1 publication Critical patent/EP1197801B1/en
The present invention relates to lithographic devices for imaging a mask pattern onto a substrate.
A positioning device of the kind mentioned in the opening paragraph is known from EP-A-0 525 872. The known positioning device is used in an optical lithographic device for the manufacture of integrated semiconductor circuits by means of an optical lithographic process. The lithographic device images sub-patterns of such semiconductor circuits present on a mask on a reduced scale on a semiconductor substrate by means of a light source and a system of lenses. Since such semiconductor circuits have a complicated structure, the semiconductor substrates should be exposed a number of times, each time with a different mask having a different sub-pattem. The masks are consecutively taken from a magazine and placed in an operational position in the lithographic device by means of the known positioning device. During the displacement of a mask from the magazine to the operational position, the mask passes a measuring position where a position is measured occupied by the mask relative to a reference of the lithographic device. A position of the object holder by means of which the mask is displaced is measured relative to said reference during the displacement of the mask from the measuring position into the operational position, so that the mask can be placed in a desired operational position with respect to the reference through a suitable displacement of the object holder. The relevant object holder keeps the mask in the desired operational position during the exposure of the semiconductor substrate. Meanwhile, the other object holder takes a next mask from the magazine and moves it into the measuring position. The use of the two displacement units with the two object holders thus renders it possible to measure the position of a subsequent mask relative to the reference already while a previous mask is in the operational position and the semiconductor substrate is being exposed through this previous mask. The manufacturing output of the lithographic device is considerably increased in this manner.
The use of a positioning device of the kind mentioned in the opening paragraph, furthermore, is generally known in machine tools and machining installations. In this case, a position occupied by a workpiece supported by one of the two object holders relative to this object holder is measured in the measuring position. Then the relevant object holder with the workpiece is moved into the operational position in which the workpiece is to be machined. A position occupied by the relevant object holder relative to a reference of the machine tool is measured in the operational position, with the result that the workpiece can be brought into a desired operational position with respect to the reference. Here, again, the use of the two displacement units with the two object tables considerably increases the manufacturing output of the machine tools or machining installation because a next workpiece is already moved into the measuring position while a former workpiece is being processed.
According to the present invention, there is provided a lithographic device comprising:
a radiation source for supplying a light beam for irradiating a mask;
a first object holder for holding said mask;
a projection system for imaging a mask pattern onto a substrate; and
a second object holder for holding a substrate; and:
a displacement unit for displacing one of said object holders relative to a base of the device in X and Y directions, said displacement unit comprising first and second parts which are displaceable relative to one another and which exert a driving force on one another during operation, the first part of the displacement unit being coupled to said one of said object holders characterised in that the second part of the displacement unit is coupled to a balancing unit which is displaceably guided relative to said base so as to be movable in the X and Y directions and rotatable about at least one axis parallel to the Z direction.
It is noted that the term "force actuator" is understood to mean an actuator for generating a driving force with a predetermined value. Besides such force actuators, so-called position actuators are known for generating displacements having a predetermined value.
The invention also provides a method of manufacturing a semiconductor device using a lithographic device, the method comprising the steps of:
projecting an image of a mask pattern of a mask held in a first object holder onto a substrate held in a second object holder;
displacing one of said first and second object holders relative to a base of said lithographic device in X and Y directions, using a displacement unit comprising first and second parts which are displaceable relative to one another and which exert a driving force on one another during operation, the first part of the displacement unit being coupled to said one of said object holders characterised in that the second part being coupled to a balancing unit which is displaceably guided relative to said base so as to be movable in the X and Y direction and rotatable about at least one axis parallel to the Z direction.
Fig. 3 shows the positioning device of Fig. 2 in a rotated position
The lithographic device according to the invention shown diagrammatically in Fig. 1 is used for the manufacture of integrated semiconductor circuits by an optical lithographic process and by means of an imaging method which follows the so-called "step and repeat" principle. As Fig. 1 diagrammatically shows, the lithographic device is provided with a frame 1 which supports in that order, as seen parallel to a vertical Z-direction, a positioning device 3 according to the invention, a focusing unit 5, a mask holder 7, and a radiation source 9. The positioning device 3 comprises a first substrate holder 11 and an identical second substrate holder 13. The lithographic device shown in Fig. 1 is an optical lithographic device whose radiation source 9 comprises a light source 15. The substrate holders 1 and 13 comprise a support surface 17 which extends perpendicularly to the Z-direction and on which a first semiconductor substrate 19 can be placed and a support surface 21 which extends perpendicularly to the Z-direction and on which a second semiconductor substrate 23 can be placed, respectively. The first substrate holder 11 is displaceable relative to the frame 1 parallel to an X-direction perpendicular to the Z-direction and parallel to a Y-direction perpendicular to the X-direction and perpendicular to the Z-direction by means of a first displacement unit 25 of the positioning device 3, while the second substrate holder 13 is displaceable relative to the frame 1 parallel to the X-direction and parallel to the Y-direction by means of a second displacement unit 27 of the positioning device 3. The focusing unit 5 is an imaging or projection system and comprises an optical lens system 29 with an optical main axis 31 directed parallel to the Z-direction and an optical reduction factor which is, for example, 4 or 5. The mask holder 7 comprises a support surface 33 which extends perpendicularly to the Z-direction and on which a mask 35 can be placed. The mask 35 comprises a pattern or a sub-pattern of an integrated semiconductor circuit. During operation, a light beam originating from the light source 15 is guided through the mask 35 and focused on the first semiconductor substrate 19 by means of the lens system 29, so that the pattern present on the mask 35 is imaged on a reduced scale on the first semiconductor substrate 19. The first semiconductor substrate 19 comprises a large number of individual fields on which identical semiconductor circuits are provided. The fields of the first semiconductor substrate 19 are consecutively exposed through the mask 35 for this purpose. During the exposure of an individual field of the first semiconductor substrate 19, the first semiconductor substrate 19 and the mask 35 are in fixed positions relative to the focusing unit 5, whereas after the exposure of an individual field a next field is brought into position relative to the focusing unit 5 each time in that the first substrate holder 11 is displaced parallel to the X-direction and/or parallel to the Y-direction by the first displacement unit 25. This process is repeated a number of times, with a different mask each time, so that complicated integrated semiconductor circuits with a layered structure are manufactured. The integrated semiconductor circuits to be manufactured by means of the lithographic device have a structure with detail dimensions which lie in the sub-micron range. Since the first semiconductor substrate 19 is exposed consecutively through a number of different masks, the pattern present on these masks should be imaged on the semiconductor substrate 19 with an accuracy which also lies in the sub-micron range, or even in the nanometer range. Therefore, the semiconductor substrate 19 must be positioned relative to the focusing unit 5 with a comparable accuracy between two consecutive exposure steps, so that very high requirements are imposed on the positioning accuracy of the positioning device 3.
As Figs. 2 and 3 further show, the Y-actuators 43, 45 of the displacement units 25, 27 are provided with a common straight guide 63 along which the first parts 55 and 57 of the Y-actuators 43 and 45 are displaceably guided, seen parallel to the Y-direction. The positioning device 3 is further provided with a rotatable unit 65 which is shown diagrammatically only in the Figures and which is provided with a first disc-shaped part 67 which is fastened to a balancing unit 69 of the positioning device 3 to be described in more detail below, and a second disc-shaped part 71 which is fastened to the common straight guide 63. The second disc-shaped part 71 is rotatable relative to the first disc-shaped part 67 about an axis of rotation 73 which extends parallel to the Z-direction. For this purpose, the rotatable unit 65 is provided with an electric motor 75 which is depicted diagrammatically only in the Figures and which is fastened to the balancing unit 69 and coupled to the second disc-shaped part 71 by means of a drive belt 77. After the first semiconductor substrate 19 has been exposed in the operational position during operation and the second semiconductor substrate 23 has been aligned relative to the second substrate holder 13 in the measuring position, the second disc-shaped part 71 of the rotatable unit 65 is rotatated about the axis of rotation 73 through an angle of 180° relative to the first disc-shaped part 67, so that the common straight guide 63 together with the first displacement unit 25 and the second displacement unit 27 is rotated about the axis of rotation 73. Said rotation of the common straight guide 63 causes the first displacement unit 25 with the first substrate holder 11 to be displaced in its entirety from the operational position into the measuring position, while the second displacement unit 27 with the second substrate holder 13 is displaced in its entirety from the measuring position into the operational position. Fig. 3 shows the positioning device 3 in a position in which the common straight guide 63 has performed part of the total rotational movement of 180°.
The balancing unit 69 of the positioning device 3 mentioned above comprises a comparatively heavy balancing block made from, for example, granite. The balancing unit 69 is displaceably guided, seen parallel to the X-direction and parallel to the Y-direction, over a guiding surface 79, which extends parallel to the X-direction and parallel to the Y-direction, by means of static gas bearings which are not visible in Figs. 2 and 3. The guiding surface 79 is provided on a base 81 of the positioning device 3 shown in Fig. 1, which base is fastened to the frame 1 of the lithographic device. The second parts 59 and 61 of the Y-actuators 43 and 45 of the two displacement units 25 and 27 are coupled to the balancing unit 69, seen parallel to the X-direction and parallel to the Y-direction, via the common straight guide 63 and the rotatable unit 65, the balancing unit 69 thus consulting a common balancing unit for the two displacement units 25 and 27 of the positioning device 3. During operation, reaction forces of the Y-actuators 43 and 45 arising from driving forces generated by the Y-actuators 43 and 45 and exerted by the first parts 55 and 57 of the Y-actuators 43 and 45 on the second parts 59 and 61, are transmitted into the balancing unit 69 via the common straight guide 63 and the rotatable unit 65. Reaction forces of the X-actuators 39 and 41 arising from driving forces generated by the X-actuators 39 and 41 and exerted by the first parts 47 and 49 of the X-actuators 39 and 41 on the second parts 51 and 53 are transmitted into the balancing unit 69 via the first parts 55 and 57 and the second parts 59 and 61 of the Y-actuators 43 and 45, the common straight guide 63, and the rotatable unit 65. Since the balancing unit 69 is displaceable over the guiding surface 79 parallel to the X-direction and parallel to the Y-direction, the balancing unit 69 is displaced relative to the base 81 parallel to the X-direction and/or parallel to the Y-direction under the influence of said reaction forces transmitted into the balancing unit 69. The balancing unit 69 is comparatively heavy, so the distances over which the balancing unit 69 is displaced relative to the base 81 will be comparatively small. The reaction forces of the two displacement units 25 and 27 are thus converted into displacements of the balancing unit 69 over the guiding surface 79, so that said reaction forces do not cause mechanical vibrations in the balancing unit 69, the base 81 of the positioning device 3, and the frame 1 of the lithographic device. Such mechanical vibrations are undesirable because they lead to undesirable positioning inaccuracies of the two displacement units 25 and 27.
Since the reaction forces of the displacement units 25 and 27 result in a mechanical torque on the balancing unit 69, the balancing unit 69 is not only displaced parallel to the X-direction and/or parallel to the Y-direction under the influence of the reaction forces but is also rotated about an axis of rotation which is directed parallel to the Z-direction. In contrast to displacements of the balancing unit 69 parallel to the X-direction and/or parallel to the Y-direction, which have substantially no influence on the positions of the substrate holders 11 and 13 relative to the base 81 thanks to the use of the force actuators, such rotations of the balancing unit 69 in general do influence the positions of the substrate holders 11 and 13 relative to the base 81 if no further measures are taken. To prevent such an undesirable influence, the positioning device 3 is provided with a control unit 83 which is diagrammatically shown in Fig. 2 and which cooperates with two optical position sensors 85 and 87 fastened to the base 81 of the positioning device 3. The position sensors 85 and 87 measure a direction of the common straight guide 63 relative to the Y-direction. The electric motor 75 of the rotatable unit 65 is controlled by the control unit 83 such that the common straight guide 63 is retained in a position parallel to the Y-direction during operation, except for those moments when the straight guide 63 is to be rotated through 180°. The first parts 47 and 49 of the X-actuators 39 and 41 are thus kept in a position parallel to the X-direction. Since the common straight guide 63 is retained in a position parallel to the Y-direction by means of the control unit 83, displacements of the balancing unit 69 relative to the base 81 parallel to the X-direction and/or parallel to the Y-direction and also rotations of the balancing unit 69 relative to the base 81 have substantially no influence on the positions of the substrate holders 11 and 13 relative to the base 81, so that also mutual interferences between the positioning accuracies of the displacement units 25 and 27 arising from rotations of the balancing unit 69 caused by the reaction forces are prevented.
Figs. 4 and 5 show a second embodiment of a positioning device 97 according to the invention which is also suitable for use in the lithographic device of Fig. 1. Components of the lithographic device 97 corresponding to components of the lithographic device 3 have been given the same reference numerals in Figs. 4 and 5. The substrate holders 11 and 13 in the positioning device 97 are each displaceably guided parallel to the X-direction and parallel to the Y-direction over a guiding surface 103, which is common to the two substrate holders 11, 13 and which extends parallel to the X-direction and parallel to the Y-direction, by means of a so-called aerostatically supported foot 99, 101 which is provided with a static gas bearing. The displacement units 25 and 27 of the positioning device 97 are each provided with an X-actuator 105, 107 and with two Y-actuators 109, 111 and 113, 115 which are constructed as force actuators, as in the positioning device 3. The X-actuators 105 and 107 are each provided with a first part 117, 119 which is displaceably guided relative to a second part 121, 123 which extends parallel to the X-direction, while the Y-actuators 109, 111, 113, 115 are each provided with a first part 125, 127, 129, 131 which is displaceably guided relative to a second part 133, 135, 137, 139 which extends parallel to the Y-direction. As Fig. 4 shows, the second parts 121 and 123 of the X-actuators 105 and 107 are each coupled to both first parts 125, 127 and 129, 131 of the two Y-actuators 109, 111 and 113, 115 of the relevant displacement unit 25, 27, said second parts 121 and 123 of the X-actuators 105 and 107 each being pivotable relative to the two first parts 125, 127 and 129, 131 of the relevant Y-actuators 109, 111 and 113, 115 about a pivot axis 141, 143, 145, 147 which is parallel to the Z-direction. The first parts 117 and 119 of the X-actuators can each be coupled to the substrate holder 11, 13 of the relevant displacement unit 25, 27, seen parallel to the X-direction and parallel to the Y-direction, in a manner to be further described below. The second parts 133, 135, 137, 139 of the Y-actuators 109, 111, 113, 115 are each fastened to a balancing unit 149 which is common to the two displacement units 25 and 27, which corresponds to the balancing unit 69 of the positioning device 3, and which is displaceably guided parallel to the X-direction and parallel to the Y-direction by means of static gas bearings not shown in the Figures over a guiding surface 79 which extends parallel to the X-direction and parallel to the Y-direction and which belongs to a base 81 of the positioning device 97 which is fastened to the frame 1. The balancing unit 149 is at the same time a common support body for the two substrate holders 11 and 13, the common guiding surface 103 of the substrate holders 11 and 13 being an upper surface of the balancing unit 149. Like the balancing unit 69 of the positioning device 3, the balancing unit 149 of the positioning device 97 is provided with anti-drift means 89, 91, 93 and 95. The substrate holders 11 and 13 are each displaceable parallel to the X-direction independently of one another by means of respective X-actuators 105 and 107, and are displaceable parallel to the Y-direction independently of one another by means of displacements of equal value of the two Y-actuators 109 and 111 and the two Y-actuators 113 and 115, respectively. During operation, reaction forces of the X-actuators 105 and 107 are transmitted to the balancing unit 149 via the second parts 121 and 123 of the X-actuators 105 and 107, the first parts 125, 127. 129, 131 of the Y-actuators 109, 111, 113, 115, and the second parts 133, 135, 137, 139 of the Y-actuators 109, 111, 113, 115, while reaction forces of the Y-actuators 109, 111, 113, 115 are directly transmitted to the balancing unit 149 via the second parts 133, 135, 137, 139 of the Y-actuators 109, 111, 113, 115.
The substrate holders 11 and 13 are each provided with a coupling member 151, 153 to be described in more detail below, by means of which the substrate holders 11, 13 can be coupled parallel to the X-direction and parallel to the Y-direction alternately to the first part 117 of the X-actuator 105 of the first displacement unit 25 and the first part 119 of the X-actuator 107 of the second displacement unit 27. The coupling member 151 of the first substrate holder 11 is for this purpose provided with a first part 155 by means of which the first substrate holder 11 can be coupled to the first part 117 of the X-actuator 105 of the first displacement unit 25, and with a second part 157 by means of which the first substrate holder 11 can be coupled to the first part 119 of the X-actuator 107 of the second displacement unit 27. Similarly, the coupling member 153 of the second substrate holder 13 is provided with a first part 159 by means of which the second substrate holder 13 can be coupled to the first part 117 of the X-actuator 105 of the first displacement unit 25, and with a second part 161 by means of which the second substrate holder 13 can be coupled to the first part 119 of the X-actuator 107 of the second displacement unit 27. In the situation shown in Figs. 1 and 4, where the first substrate holder 11 is in the operational position and the second substrate holder 13 in the measuring position, the first substrate holder 11 is coupled to the first part 117 of the X-actuator 105 of the first displacement unit 25 via the first part 155 of the coupling member 151, while the second substrate holder 13 is coupled to the first part 119 of the X-actuator 107 of the second displacement unit 27 via the second part 161 of the coupling member 153. The substrate holders 11 and 13 must pass each other over the common guiding surface 103 upon a displacement of the first substrate holder 11 from the operational position into the measuring position and of the second substrate holder 13 from the measuring position into the operational position. To achieve this, the first substrate holder 1 is displaced by the first displacement unit 25 from the operational position into a first intermediate position M' shown in Fig. 5 between the operational position and the measuring position, while simultaneously the second substrate holder 13 is displaced by means of the second displacement unit 27 from the measuring position into a second intermediate position M" shown in Fig. 5, which lies next to the first intermediate position M' and is also situated between the operational position and the measuring position. The substrate holders 11 and 13 are uncoupled from the first displacement unit 25 and the second displacement unit 27, respectively, in said intermediate positions M' and M". Then the first part 117 of the X-actuator 105 of the first displacement unit 25 is moved from the first intermediate position M' into the second intermediate position M", and coupled in this second intermediate position M" to the first part 159 of the coupling member 153 of the second substrate holder 13. Simultaneously, the first part 119 of the X-actuator 107 of the second displacement unit 27 is moved from the second intermediate position M" into the first intermediate position M', and is coupled in this first intermediate position M' to the second part 157 of the coupling member 151 of the first substrate holder 11. This leads to the situation shown in Fig. 5, where the first substrate holder 11 in the first intermediate position M' is coupled to the first part 119 of the X-actuator 107 of the second displacement unit 27, and where the second substrate holder 13 in the second intermediate position M" is coupled to the first part 117 of the X-actuator 105 of the first displacement unit 25. Finally, the first substrate holder 11 is moved into the measuring position from the first intermediate position M' by the second displacement unit 27, while simultaneously the second substrate holder 13 is moved from the second intermediate position M" into the operational position by the first displacement unit 25. A distance over which the first parts 125, 127, 129, 131 of the Y-actuators 109, 111, 113, 115 are to be displaceable relative to the second parts 133, 135, 137, 139 is reduced by the use of the coupling members 151 and 153, so that the dimensions of the displacement units 25 and 27 are reduced. It is in addition prevented that the second parts 121 and 123 of the X-actuators 105 and 107 should be capable of passing one another, seen parallel to the Y-direction, so that the construction of the displacement units 25 and 27 is kept simple.
Like the balancing unit 69 of the positioning device 3, the balancing unit 149 of the positioning device 97 is also rotated about an axis of rotation directed parallel to the Z-direction as a result of the reaction forces of the displacement units 25 and 27 exerted on the balancing unit 149. To prevent such rotations of the balancing unit 149 from leading to undesirable displacements of the substrate holders 11 and 13 relative to the base 81, the positioning device 97 is provided with a first control unit 167 by means of which the second part 121 of the X-actuator 105 of the first displacement unit 25 can be retained in a position parallel to the X-direction, and with a second control unit 169 by means of which the second part 123 of the X-actuator 107 of the second displacement unit 27 can be retained in a position parallel to the X-direction. As Fig. 4 shows, the first control unit 167 cooperates with two optical position sensors 171 and 173 which are fastened to the base 81 and by means of which a direction of the second part 121 of the X-actuator 105 relative to the X-direction is measured. Similarly, the second control unit 169 cooperates with two optical position sensors 175 and 177 which are also fastened to the base 81 and by means of which a direction of the second part 123 of the X-actuator 107 relative to the X-direction is measured. The first control unit 167 controls the two Y-actuators 109 and 111 of the first displacement unit 25 such that the second part 121 of the X-actuator 105 remains in a position parallel to the X-direction in the case of rotations of the balancing unit 149. Similarly, the second control unit 169 controls the two Y-actuators 113 and 115 of the second displacement unit 27 such that the second part 123 of the X-actuator 107 remains in a position parallel to the X-direction in the case of rotations of the balancing unit 149. The fact that the second parts 121 and 123 of the X-actuators 105 and 107 are thus each held in a position parallel to the X-direction prevents rotations of the X-actuators 105, 107 and the substrate holders 11, 13 coupled thereto, which in general would lead to undesirable displacements of the substrate holders 11, 13 relative to the base 81
The first displacement unit 189 and the second displacement unit 191 of the further positioning device 179 each comprise an X-actuator 211 and 213 which is constructed as a force actuator. The X-actuators 211 and 213 each comprise a first part 215 and 217 which is displaceable, seen parallel to the X-direction, relative to a second part 219, 221 of the relevant X-actuator 211, 213 which extends substantially parallel to the X-direction. The second parts 219 and 221 of the X-actuators 211 and 213 are fastened to the support body 201 and comprise a common straight guide 223 which extends substantially parallel to the X-direction. Furthermore, the displacement units 189 and 191 each comprise an XY Lorentz force actuator 225, 227 with a permanent magnet system 229, 231 which is fastened to the mask holder 181, 183 of the relevant displacement unit 189, 191, and an electric coil system 233, 235 which is fastened to the first part 215, 217 of the X-actuator 211, 213 of the relevant displacement unit 189, 191. The mask holders 181 and 183 can be displaced parallel to the X-direction relative to the base 209 over comparatively great distances and with comparatively low accuracies by means of the X-actuators 211 and 213, while the mask holders 181 and 183 can be displaced relative to the first parts 215 and 217 of the X-actuators 211, 213 parallel to the X-direction and the Y-direction over comparatively small distances and with comparatively high accuracies by means of the XY Lorentz force actuators 225 and 227, and are rotatable through limited angles about an axis of rotation directed parallel to the Z-direction relative to said first parts 215 and 217. The use of the XY Lorentz force actuators 225, 227 achieves that the mask holders 181 and 183 can be positioned with comparatively high accuracy parallel to the Y-direction during the exposure of a semiconductor substrate, so that the displacements of the mask holders 181 and 183 directed parallel to the X-direction are to a high degree parallel to the X-direction. Finally, the positioning device 179 has a control unit 237, as does the positioning device 3, by means of which the straight guide 223 is held in a position parallel to the X-direction during operation, except for those moments in which the support body 201 is rotated through 180° relative to the base 209 by means of the rotatable unit 203. As Fig. 7 diagrammatically shows, the control unit 237 cooperates with two optical position sensors 239 and 241, and the control unit 237 controls an electric motor 243 of the rotatable unit 203.
A lithographic device comprising:
a radiation source (9) for supplying a light beam for irradiating a mask (35);
a first object holder (7) for holding said mask (35);
a projection system (5) for imaging a mask pattern onto a substrate; and
a second object holder (11,13) for holding a substrate; and:
a displacement unit for displacing one of said object holders relative to a base of the device in X and Y directions, said displacement unit comprising first and second parts which are displaceable relative to one another and which exert a driving force on one another during operation, the first part of the displacement unit being coupled to said one of said object holders characterised in that the second part of the displacement unit is coupled to a balancing unit (69) which is displaceably guided relative to said base so as to be moveable in the X and Y directions and rotatable about at least one axis parallel to the Z direction.
A lithographic device according to claim 1 wherein said balancing unit (69) is displaceably guided over a guiding surface (79) by means of static gas bearings.
A lithographic device according to claim 1 or 2 further comprising anti-drift means (89) for exerting comparatively small anti-drift forces on said balancing unit (69) whereby drifting away of the balancing unit (69) is prevented.
A lithographic device according to claim 3 wherein said anti-drift means comprise mechanical springs (91,93,95).
A lithographic device according to any one of claims 1 to 4 further comprising a third object table for holding a second substrate and wherein said displacement unit is for displaying said second and third object tables and further comprising third and fourth parts which are displaceable relative to each other and exert a driving force on one another during operation, said third part being coupled to said third object table and said fourth part being coupled to said balancing unit (69).
A lithographic device according to claim 5 wherein said balancing unit (149) is a common support body for said second and third object holders and has an upper surface functioning as a guiding surface for said second and third object holders.
A lithographic device according to any one of the preceding claims wherein the force actuators of the first and second displacement units generate exclusively Lorentz forces.
A lithographic device according to any one of the preceding claims wherein the first and second displacement units comprise planar electromagnetic motors.
A method of manufacturing a semiconductor device using a lithographic device, the method comprising the steps of:
projecting an image of a mask pattern of a mask (35) held in a first object holder (7) onto a substrate held in a second object holder (11, 13);
displacing one of said first and second object holders (7, 11, 13) relative to a base of said lithographic device in X and Y directions, using a displacement unit comprising first and second parts which are displaceable relative to one another and which exert a driving force on one another during operation, the first part of the displacement unit being coupled to said one of said object holders characterised in that the second part is coupled to a balancing unit (69) which is displaceably guided relative to said base so as to be moveable in the X and Y directions and rotatable about at least one axis parallel to the Z direction.
EP01126286A 1996-12-24 1997-10-03 Lithographic device with two object holders Expired - Lifetime EP1197801B1 (en)
EP19970941149 EP0890136B9 (en) 1996-12-24 1997-10-03 Two-dimensionally balanced positioning device with two object holders, and lithographic device provided with such a positioning device
EP01126286A EP1197801B1 (en) 1996-12-24 1997-10-03 Lithographic device with two object holders
EP19970941149 Division EP0890136B9 (en) 1996-12-24 1997-10-03 Two-dimensionally balanced positioning device with two object holders, and lithographic device provided with such a positioning device
EP1197801A1 EP1197801A1 (en) 2002-04-17
EP1197801B1 true EP1197801B1 (en) 2005-12-28
EP01126286A Expired - Lifetime EP1197801B1 (en) 1996-12-24 1997-10-03 Lithographic device with two object holders
EP19970941149 Expired - Lifetime EP0890136B9 (en) 1996-12-24 1997-10-03 Two-dimensionally balanced positioning device with two object holders, and lithographic device provided with such a positioning device
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