Source: https://patents.google.com/patent/US7348752?oq=6721967
Timestamp: 2018-03-24 05:43:45
Document Index: 185503788

Matched Legal Cases: ['art 10', 'art 20', 'art 10', 'art 20', 'art 30', 'art 10', 'art 40', 'art 40']

US7348752B1 - Stage apparatus and lithographic apparatus - Google Patents
Stage apparatus and lithographic apparatus Download PDF
US7348752B1
US7348752B1 US11523736 US52373606A US7348752B1 US 7348752 B1 US7348752 B1 US 7348752B1 US 11523736 US11523736 US 11523736 US 52373606 A US52373606 A US 52373606A US 7348752 B1 US7348752 B1 US 7348752B1
US11523736
US20080067967A1 (en )
A stage apparatus and a lithographic apparatus comprising such a stage apparatus are described. The stage apparatus includes an electromagnetic motor arranged to displace an object table, an electromagnetic actuator configured to position the object table and a device configured to provide a current to the stage apparatus such that, in use, an effect of a stray field of the electromagnetic motor on the electromagnetic actuator is at least partly compensated by the current.
The present invention relates to a stage apparatus and a lithographic apparatus.
In general, a lithographic apparatus includes one or more object tables arranged to hold a substrate or a patterning device. Such an object table can, in general, be displaced using a stage apparatus. Often, such a stage apparatus includes electromagnetic motors and/or actuators for displacing and positioning the object table. In order to obtain the required positioning accuracy, a combination of both electromagnetic motors (suitable for displacing the object table over comparatively large distances) and electromagnetic actuators (suitable for displacing the object table over comparatively small distances with a high accuracy) is often applied.
As an example of such a stage apparatus, a planar motor as e.g. disclosed in U.S. Pat. No. 6,531,793 (suitable for positioning an object table over comparatively large distances) can be combined with a plurality of electromagnetic actuators for accurate displacement of the object table.
In general, the electromagnetic motor that is arranged to provide a long travel to the object table includes an array of alternating polarized permanent magnets on a first part and a plurality of coils on a second part. During operation of the electromagnetic motor, an electromagnetic actuator that is operated or located in the vicinity of the electromagnetic motor may experience a disturbance caused by the electromagnetic motor. It will be appreciated by a person skilled in the art that an electromagnetic actuator that is displaced relative to an array of permanent magnets can be influenced by the magnetic field of the array. As such, the proper operation or expected response of the electromagnetic actuator may be compromised by the electromagnetic field of the array resulting in a reduced accuracy of the electromagnetic actuator. Similarly, the electromagnetic field generated by a current carrying coil of the electromagnetic motor may cause a disturbance or an improper operation of the electromagnetic actuator.
In order to avoid the influence of an electromagnetic motor on an electromagnetic actuator, one might consider providing a ferromagnetic shield between the motor and the actuator. Such a shield however may be quite heavy and therefore result in an inferior behavior of the stage apparatus. In addition, such a ferromagnetic shield may also be influenced by the electromagnetic field of the motor resulting in the generation of disturbances of the stage apparatus by the shield.
It is desirable to provide a stage apparatus wherein the influence of an electromagnetic motor on an electromagnetic actuator is mitigated.
According to an embodiment of the invention, there is provided a stage apparatus configured to position an object table including an electromagnetic motor arranged to displace the object table, an electromagnetic actuator configured to position the object table, a current generator configured to provide a current to the stage apparatus such that, in use, an effect of a stray field of the electromagnetic motor on the electromagnetic actuator is at least partly compensated by the current.
According to a further embodiment of the present invention, there is provided a lithographic apparatus including an illumination system configured to condition a radiation beam; a support constructed to support a patterning device, the patterning device being capable of imparting the radiation beam with a pattern in its cross-section to form a patterned radiation beam; a substrate table constructed to hold a substrate; a projection system configured to project the patterned radiation beam onto a target portion of the substrate, and a stage apparatus configured to displace the support or the substrate table, the stage apparatus including an electromagnetic motor arranged to displace the support or the substrate table, an electromagnetic actuator configured to position the support or the substrate table, a current generator configured to provide a current to the stage apparatus such that, in use, an effect of a stray field of the electromagnetic motor on the electromagnetic actuator is at least partly compensated by the current.
According to an embodiment of the invention, there is provided a stage apparatus configured to position a support in a lithographic apparatus, the support configured to hold a substrate or a patterning device, the stage apparatus including a first electromagnetic motor arranged to generate a relatively large displacement of the support; a second electromagnetic motor configured to generate a relatively small displacement of the support, the second electromagnetic motor arranged on the first electromagnetic motor; and a current generator configured to provide a current to a coil arranged in the stage apparatus, the current being selected such that, in use, a corresponding field produced by the coil substantially reduces an effect of a field of the electromagnetic motor on the electromagnetic actuator.
FIG. 2 schematically depicts a stage apparatus according to an embodiment of the present invention;
FIGS. 3 a and 3 b schematically depict an electromagnetic actuator;
FIGS. 4 a and 4 b schematically depict an electromagnetic motor;
FIG. 5 schematically depicts a stage apparatus according to an embodiment of the present invention;
FIG. 6 schematically depicts a stage apparatus according to an embodiment of the present invention;
FIG. 7 schematically depicts a stage apparatus according to an embodiment of the present invention;
FIG. 8 schematically depicts a stage apparatus according to an embodiment of the present invention; and
FIG. 9 schematically depicts a stage apparatus according to an embodiment of the present invention.
FIG. 1 schematically depicts a lithographic apparatus according to one embodiment of the invention. The apparatus includes an illumination system (illuminator) IL configured to condition a radiation beam B (e.g. UV radiation or EUV radiation) a support structure (e.g. a mask table) MT constructed to support a patterning device (e.g. a mask) MA and connected to a first positioner PM configured to accurately position the patterning device in accordance with certain parameters; a substrate table (e.g. a wafer table) WT constructed to hold a substrate (e.g. a resist-coated wafer) W and connected to a second positioner PW configured to accurately position the substrate in accordance with certain parameters; and a projection system (e.g. a refractive projection lens system) PS configured to project a pattern imparted to the radiation beam B by patterning device MA onto a target portion C (e.g. including one or more dies) of the substrate W.
1. In step mode, the mask table MT and the substrate table WT are kept essentially stationary, while an entire pattern imparted to the radiation beam is projected onto a target portion C at once (i.e. a single static exposure). The substrate table WT is then shifted in the X and/or Y direction so that a different target portion C can be exposed. In step mode, the maximum size of the exposure field limits the size of the target portion C imaged in a single static exposure.
FIG. 2 schematically depicts a stage apparatus according to an embodiment of the present invention. The stage apparatus includes a long stroke module 1 and a short stroke module 2. In general, the long stroke module is used to displace the object table 50 over comparatively large distances, e.g. about 500 mm or more. This long stroke displacement can be obtained by a displacement of the first part 10 of the long stroke module relative to the second part 20. As an example, the long stroke module may include one or more electromagnetic motors configured to provide the relative displacement. As such, the first part 10 may include an array of coils arranged to co-operate with an array of permanent magnets mounted to the second part 20, the array of permanent magnets and the array of coils forming an electromagnetic motor, e.g. a planar motor. The stage apparatus further includes a short stroke module 2 that is used to provide accurate positioning of the object table 50. The short stroke module 2 includes a first part 30 that is mounted to the first part 10 of the long stroke module and a second part 40. Mounted to the second part 40 of the actuator is an object table 50 suitable to receive e.g. a patterning device or a substrate when the stage apparatus is applied in a lithographic apparatus. The arrangement of the motor and the actuator as shown can be considered a cascaded arrangement whereby the electromagnetic motor is used for long travel of the object table, while the actuator is applied for fine positioning of the object table.
It will be appreciated by the skilled person that a magnetic field of the electromagnetic motor (either from the permanent magnets or, when energized, from the coils) may, to some extend, encompass the electromagnetic actuator, thereby influencing the behavior of the actuator. The part of the magnetic field originating from the electromagnetic motor and influencing the electromagnetic actuator may also be referred to as the stray field of the electromagnetic motor.
In order to compensate, at least partly, the effect of the stray field of the electromagnetic motor, the embodiment as shown includes a coil 60 arranged between the electromagnetic motor and the electromagnetic actuator and a device or current generator 70 configured to supply a current to the coil. The coil can e.g. be mounted to either the electromagnetic motor or to the electromagnetic actuator.
In an embodiment, the device or current generator 70 may include a power amplifier configured to supply the current to the coil. In order to determine the desired amount of current to, at least partly, compensate the effect of the stray field, the stage apparatus may e.g. further include a sensor configured to determine the stray field. Such a sensor may e.g. be a Hall sensor. The sensor may e.g. be located near the electromagnetic actuator or between the electromagnetic actuator and the electromagnetic motor. Alternatively, the sensor can be located elsewhere provided that the sensor measurement signal can be used to generate a signal representing the stray field. The signal may further be applied by a control unit arranged to determine the required current for, at least partly, compensating the stray field. The control unit can e.g. be part of the device or current generator 70.
FIGS. 3 a and 3 b schematically depict known actuators that can be applied in the short stroke module of the stage apparatus according to an embodiment of the present invention.
FIG. 3 a schematically depicts an actuator 100 including a coil 140 arranged to co-operate with a magnet assembly including a permanent magnet 110 enclosed by two ferromagnetic components 120 and 130. By energizing the coil 140, a force in the Z-direction can be generated between the coil and the magnet assembly.
FIG. 3 b schematically depicts another type of actuator 200 including a coil 230 enclosed by two magnet assemblies 202, 204 each including a ferromagnetic yoke 210, 220 and a pair of permanent magnets. By energizing the coil 230, a force in the Y-direction can be generated.
FIGS. 4 a and 4 b schematically depict two electromagnetic motors as known in the art that can be applied in a stage apparatus according to the present invention.
FIG. 4 a schematically depicts an electromagnetic motor 300 including and array of coils 310 that is movable relative to an array of permanent magnets 320 mounted to a ferromagnetic yoke 330. By supplying the appropriate currents to the coils 310, a force can be generated between the array of coils and the array of permanent magnets, the force can be directed both in the y-direction and in the z-direction. Also shown in FIG. 4 a is the magnet pitch d of the permanent magnets forming the array of permanent magnets.
The electromagnetic motor 400 as shown in FIG. 4 b differs from the motor of FIG. 4 a in that it includes a ferromagnetic yoke 420 on which the array of coils 410 is mounted. The motor further includes an array of permanent magnets 440 mounted on a ferromagnetic yoke 430.
FIG. 5 schematically depicts a stage apparatus according to an embodiment of the present invention. The embodiment as shown includes an electromagnetic motor 500 including an array of permanent magnets 502 arranged to co-operate with an array of coils 504 thereby allowing comparatively large displacements of the coil array relative to the magnet array in the Y-direction. The electromagnetic motor 500 may e.g. be a planar motor arranged to displace the object table 520 in 6 degrees of freedom; such a planar motor is capable of providing a displacement over comparatively large distances in both X- and Y-direction (the X-direction being substantially perpendicular to both the Y- and the Z-direction), and a comparatively small displacement in the other degrees of freedom. An example of a planar motor can e.g. be found in U.S. Pat. No. 6,531,793. Mounted to the electromagnetic motor is a short stroke assembly 510 that includes two electromagnetic actuators similar to the actuators of FIG. 3 b. The coils of the actuators are mounted to the coil assembly of the electromagnetic motor while the magnet assemblies are mounted to object table 520. The stage apparatus further includes a device or current generator 530 configured to supply a compensating current to a coil 535 of the actuators. The compensating current is selected to at least partly compensate a stray field of the electromagnetic motor. Alternatively, the compensating current can be supplied to a separate coil or coil set, as shown in FIG. 6. In the arrangement as shown, whereby the magnet array of the electromagnetic motor is substantially longer (in the Y-direction) than the coil array, the magnet array is usually stationary while the coil array is moved. Note however that the inverse arrangement can also be applied. Such an arrangement may include a coil array that is substantially longer than the magnet array. In such an arrangement, the coil array can remain stationary while the magnet array is moved.
FIG. 6 schematically depicts a stage apparatus according to an embodiment of the present invention wherein the compensating current is supplied to a separate set of coils 550 by a control unit 540. The set of coils is arranged between the electromagnetic motor 560 and the electromagnetic actuator of the short stroke module 570. By doing so, the stray field originating from the electromagnetic motor can, at least party, be compensated. As an example, three coils (or a multiple of three) may be arranged next to each (or partly overlapping), the coils being powered by a three-phase power supply in order to generate a magnetic field that, at least partly opposes the stray field of the electromagnetic motor. By appropriate choice of currents, the magnetic field generated by the multiple coils can provide an improved compensation of the stray field for different positions of the electromagnetic motor. Preferably, the multiple coils are arranged to generate a magnetic field having the same pitch as the pitch of the stray field of the electromagnetic motor. In order to obtain this, it may be desirable to have a size of the coils (i.e. the coil pitch) correspond to the magnetic pitch of the stray field. It may further be noted that other positions may also be considered for positioning the set of coils as compared to the position shown in FIG. 6.
In general, the stray field of the electromagnetic motor may e.g. be known from a measurement by a sensor or from a calibration of the electromagnetic motor. FIG. 7 schematically depicts a stage apparatus according to an embodiment of the present invention provided with a sensor 610 configured to measure a magnetic field of the electromagnetic motor 600. The measurement can be applied by a control unit 620 configured to control a current of an array of coils 640 arranged between the electromagnetic motor 600 and a short stroke assembly 650. The sensor 610 may also be located elsewhere. As an example, the sensor can be mounted between the electromagnetic motor 600 and the short stroke module or even inside the short stroke module.
A calibration of the electromagnetic motor can e.g. include a measurement of the stray field of the electromagnetic motor (at a predetermined location) as a function of the position of the coil array of the electromagnetic motor relative to the magnet array. This calibration may then be applied by a control unit to, at least partly, compensate the stray field effect. Alternatively, the control unit may use the calibration data to add a compensating current to the actuator current that would be desired in the absence of the stray field. This arrangement provides a benefit that no separate coil is required to compensate the stray field and no separate power supply configured to provide the compensating current (such an arrangement is e.g. shown in FIG. 5).
As will be appreciated by the skilled person, the stray field of the electromagnetic motor may depend on various parameters, such as the instantaneous value of the current supplied to the electromagnetic motor or the relative position of the first and second part of the electromagnetic motor. To illustrate this, a ‘so-called’ planar motor as e.g. described in U.S. Pat. No. 6,531,793 can be considered as electromagnetic motor. Such a planar motor may include a stationary magnet plate including a checkerboard pattern of permanent magnets and a coil unit that is movable relative to the magnet plate. In such an arrangement, it will be appreciated by the person skilled in the art that an electromagnetic actuator that is mounted to the coil unit may experience a stray field originating from the magnet plate, the stray field depending on the relative position of the magnet plate and the coil unit.
In an embodiment of the present invention, the stray field of the electromagnetic motor (e.g. a planar motor) is estimated based on the relative position of both parts of the electromagnetic motor. In general, a stage apparatus may include a position measurement system configured to determine the position of the object table. As such, it may be possible to apply this position measurement system configured to determine the relative position of both parts of the electromagnetic motor. FIG. 8 schematically depicts a stage apparatus according to an embodiment of the present invention, including a position measurement system 700. The position measurement can be applied in a control unit 710 to generate a current for, at least partly, compensating the stray field. The current can be supplied to one or more coils 720 arranged between a long stroke motor 730 of the stage apparatus and a short stroke assembly 740. As an example, the stray field as a function of the position of the object table can be determined once (as a calibration or initialization step) and the data can be stored, e.g. in the control unit. As such, an online measurement of the stray field during the operation of the stage apparatus is no longer required.
In a preferred embodiment, the coil (or coils) arranged to receive a current to compensate the stray field have a size that substantially corresponds to a magnetic pitch of the stray field. By doing so, an improved compensation of the stray field can be obtained.
In an embodiment of the present invention, the compensating current is supplied to a coil of the electromagnetic actuator rather than to a separate coil arranged near the actuator. In case the stray field of the electromagnetic motor is known (either by a measurement or based on e.g. a position of the stage apparatus), this information can be applied by a control unit configured to control the actuator to adjust the actuator current compared to the actuator current that would be required in the absence of the stray field. This arrangement provides a benefit that no separate coil is required to compensate the stray field and no separate power supply configured to provide the compensating current.
In an embodiment of the present invention (see FIG. 9), the stage apparatus is provided with one or more compensating coils 810 configured to, at least partly, compensate a stray field of an electromagnetic motor 820 of the stage apparatus and with a further coil 830 arranged to co-operate with the magnetic field of the electromagnetic motor. During operation of the electromagnetic motor, the interaction between the further coil and the magnetic field of the electromagnetic motor may induce a voltage in the further coil 830. By connecting the further coil with the compensating coil(s) 810, the induced voltage in the further coil can be applied as a power supply configured to provide a current to the stray field compensating coil 810. In a preferred embodiment, the further coil and the coil are connected in series.
In the embodiments as shown, a cascaded arrangement of an electromagnetic motor and an electromagnetic actuator is applied in the stage apparatus for positioning an object table. Note however that a cascaded arrangement is not a requirement for applying the present invention. As an alternative, the stage apparatus may include a drive unit including a first part that is movable relative to a second part wherein the first part includes both a coil set of a linear motor and one or more coils for an electromagnetic actuator and wherein the second part includes an array of permanent magnets arranged to co-operate with the coil set of the linear motor and a permanent magnet assembly arranged to co-operate with the one or more coils.
It may further be noted that in general, the positioning of an object table of a lithographic apparatus is done by a plurality of actuators. Preferably, a set of actuators is applied that enables the positioning of the object table in 6 degrees of freedom. In case a separate coil or coil set is applied for at least partly compensating the stray field, it may be advantageous to arrange the coil or coil set such that it compensates the influence of the stray field on more than one actuator. By doing so, the number of coils or coil sets can be kept low compared to the number of actuators.
1. A stage apparatus configured to position an object table comprising:
an electromagnetic motor arranged to displace the object table;
an electromagnetic actuator configured to position the object table; and
a current generator configured to provide a current to the stage apparatus such that, in use, an effect of a stray field of the electromagnetic motor on the electromagnetic actuator is at least partly compensated by the current.
2. The stage apparatus according to claim 1, wherein the current is provided to a coil of the electromagnetic actuator.
3. The stage apparatus according to claim 2, wherein the current generator comprises a power amplifier.
4. The stage apparatus according to claim 1, wherein the current is provided to a coil mounted to the electromagnetic motor or the electromagnetic actuator.
5. The stage apparatus according to claim 4, further comprising an additional coil arranged to co-operate with a magnetic field of the electromagnetic motor and arranged to, in use, power the coil.
6. The stage apparatus according to claim 4, wherein the device comprises a control unit configured to control the current.
7. The stage apparatus according to claim 6, wherein the control unit is arranged to receive an input signal to determine the current.
8. The stage apparatus according to claim 7, further comprising a sensor configured to generate the input signal.
9. The stage apparatus according to claim 7, wherein the input signal comprises a position measurement.
10. The stage apparatus according to claim 7, wherein the input signal comprises a magnetic field measurement.
11. The stage apparatus according to claim 10, further comprising a Hall sensor configured to perform the magnetic field measurement.
12. A lithographic apparatus comprising:
a patterning device support constructed to support a patterning device, the patterning device being capable of imparting the radiation beam with a pattern in its cross-section to form a patterned radiation beam;
a projection system configured to project the patterned radiation beam onto a target portion of the substrate, and
a stage apparatus configured to displace one of the supports, the stage comprising
an electromagnetic motor arranged to displace the one of the supports;
an electromagnetic actuator configured to position the one of the supports; and
13. The lithographic apparatus according to claim 12, wherein the current is provided to a coil mounted to the electromagnetic motor or the electromagnetic actuator.
14. The lithographic apparatus according to claim 13, wherein the stage apparatus further comprises an additional coil arranged to co-operate with a magnetic field of the electromagnetic motor and arranged to, in use, power the coil.
15. The lithographic apparatus according to claim 13, wherein the current generator comprises a power amplifier.
16. The lithographic apparatus according to claim 13, wherein the current generator is arranged to receive an input signal to determine the current.
17. The lithographic apparatus according to claim 16, wherein the stage apparatus further comprises a sensor configured to generate the input signal.
18. A stage apparatus configured to move a support in a lithographic apparatus, the support configured to hold a substrate or a patterning device, the stage apparatus comprising:
a first electromagnetic motor arranged to generate a relatively large displacement of the support;
a second electromagnetic motor configured to generate a relatively small displacement of the support, the second electromagnetic motor arranged on the first electromagnetic motor; and
a current generator configured to provide a current to a coil arranged in the stage apparatus, the current being selected such that, in use, a corresponding field produced by the coil substantially reduces an effect of a field of the first electromagnetic motor on the second electromagnetic motor.
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JP2007237580A JP4669868B2 (en) 2006-09-20 2007-09-13 Stage device and the lithographic apparatus
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US7348752B1 true US7348752B1 (en) 2008-03-25
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