Abstract:
The exposure apparatus of the present invention for forming a specified image on a substrate mounted on a substrate stage, has a linear motor as a part of a driving source for driving said substrate stage. The linear motor comprises: a magnet track; and a motor coil operating in cooperation with said magnet track and having a plurality of coil units, each of said coil units having an electrical conductor configured into a geometric polygonal shape defining a substantially planar conducting band surrounding a void, and wherein said plurality of coil units are arranged linearly.

Description:
This application is a Continuation Application of U.S. application Ser. No. 09/371,153 filed Aug. 10, 1999, which in turn is a Continuation Application of U.S. application Ser. No. 09/059,056 filed Apr. 10, 1998 now abandoned. 
    
    
     FIELD OF THE INVENTION 
     This invention relates to stage devices and exposure apparatuses with high performance linear motors. 
     BACKGROUND 
     Linear motors are commonly used, for example, in micro-lithographic instruments for positioning objects such as stages, and in other precision motion devices. A linear motor uses electromagnetic force (normally called Lorentz force) to propel a moving part. 
     In FIG. 1A (reproduced from FIG. 1 of Itagaki et al. U.S. Pat. No. 4,758,750, incorporated herein by reference in its entirety) a conventional linear motor includes magnets  2  which form one magnet pair and create a magnetic field in between. The magnetic poles N (north) and S (south) are shown. Similarly, the adjacent magnets form another magnet pair and create a magnetic field of opposite polarity. The width of two adjacent magnets plus two spaces between the magnets defines the magnetic pitch PM of the motor. The magnetic flux direction across a gap  4  is indicated by arrows  7  and  7   a.  A moving coil unit  12  has electrically conductive wires laid out in a direction  4  perpendicular to the plane of the figure. An electric current is passed through the wires, in a direction either into the plane of the figure or out of the plane of the figure. 
     As those skilled in the art will recognize, a wire carrying an electric current in a magnetic field creates Lorentz force, the formula of which is: 
     
       
         
           F=N L B×I 
         
       
     
     Where F represents Lorentz force, N the number of wires, B the magnetic flux, and I the electric current. For a coil with a given length L and magnetic flux B, to maximize force F, one has to maximize the number of wires N and current I. The above formula determines both the magnitude and the direction of force F, since force F, magnetic flux B, and current I are all represented as vectors, and the symbol “x” represents vector cross product multiplication. As those skilled in the art will recognize, a task in motor design is to maximize F/{square root over ( )}P, or the “motor constant” where 
     
       
           F /{square root over (P)}=NLBI/({square root over ( I +L  2   R +L )})= NLB /{square root over ( R +L )} 
       
     
     In the above expression, F is the scalar value of vector F, while P is the amount of power consumed by the motor. For each particular design configuration, the motor constant is directly related to the “copper density,” which is defined as the total wire cross sectional area as a percentage of the entire coil cross section. (The coil wires are often made of copper.) 
     In the configuration shown in FIG. 1A, the Lorentz force created by the current in coil unit  12  causes the coil to move. While traveling in the right direction of FIG. 1A, coil unit  12  eventually leaves the field of magnets  2  and enters the field of the adjacent magnets. Since this second magnetic field has a reversed polarity relative to that of the first magnetic field, the current in coil unit  12  must reverse in polarity so as to maintain the direction of Lorentz force. The reversal of the direction of the electric current is accomplished by a commutation circuit familiar in the art (not shown). 
     FIG. 1B, reproduced from FIG. 2 of Itagaki, et al., is a cross-sectional view of the conventional linear motor of FIG. 1A, viewed along the line II—II in FIG.  1 A. In such a linear motor at the coil head area  12 ′, the coil heads are stacked on top of each other. This arrangement requires a wide head area  12 ′. 
     Such a conventional linear motor has several disadvantages, one of the which is the difficulty of installation and removal. As shown in FIGS. 1A 1 B, a magnetic track is formed by magnets  2  and the magnetic side rails  3 . The magnetic track has a wide head area configured to match the shape and size of the wide head area  12 ′ of coil assembly  12 . To remove coil assembly  12  from the magnetic track, coil assembly  12  must slide away from the magnetic track in a direction perpendicular to the surface of the paper. Since the equipment (e.g. an X-Y stage) attached to coil assembly  12  is often heavy and difficult to handle, special tools are typically required during installation and removal of coil assembly  12 . 
     Another disadvantage of a conventional linear motor coil is its low efficiency. FIG. 2 shows a cross sectional view of a linear motor coil taken at a cross section perpendicular to the wire direction. Since the wire is not close packed, air gaps  50  inevitably result, substantially lowering the conductor density of the coil. As discussed above, lower conductor density often corresponds to lower motor efficiency. 
     It is therefore desirable to provide a linear motor having a motor coil with improved efficiency, low heat dissipation, and easy installation. 
     SUMMARY 
     A motor in accordance with the invention overcomes the above and other drawbacks of conventional linear motors. According to the invention, a linear motor comprises a motor coil in cooperation with an associated magnetic track. The motor coil includes a linear assembly of coil units, each similar to the other. Each coil unit has an electrically conductive wire wound into a closed band in a predetermined number of layers, typically a single layer. The shape of the closed band is geometric polygonal, such as diamond shaped, hexagonal, or double diamond shaped, having inner edges surrounding a void. Some embodiments comprise a row of parallelogram shaped closed bands folded into a row of double diamond shaped coil units. In some embodiments, the width of the void is an integral multiple of the width of the closed band. 
     The coil units are made e.g. of flex circuit material or by winding electrically conductive wires in a racetrack or folded tip fashion. In some embodiments the width of a coil unit is equal to the magnetic pitch of the associated magnetic track. In other embodiments the width of a coil unit is equal respectively to one-half or two-thirds of the magnetic pitch. 
     The stage device of the present invention has a base, a mounting base which is movable relative to the base, and a driving device for driving the mounting base, and the driving device employs the above-mentioned linear motor or the above-mentioned electric motor as a part of a driving source. 
     The exposure apparatus of the present invention for forming a specified image on a substrate mounted on a substrate stage, has the above-mentioned linear motor or the above-mentioned electric motor as a part of a driving source for driving said substrate stage. 
     The exposure apparatus of the present invention for transferring a pattern, formed on a mask mounted on a mask stage, onto a substrate mounted on a substrate stage, has the above-mentioned linear motor or the above-mentioned electric motor as a part of a driving source for driving at least one of said mask stage and said substrate stage. 
     Advantageously this arrangement provides high electrical efficiency and ease of disassembly. The coil units are stacked together in a partially overlapped fashion to form a row of coil units in the motor coil so that the number of layers of wire in the useful area is substantially uniform across the entire coil. Unlike the wide end coil shape of Itagaki et al., the present shape is more planar (not flared out at the end) and so has a flat cross section that allows the coil to be easily removed from and installed in the magnetic track. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     FIG. 1A is a plan view of a conventional linear motor; 
     FIG. 1B is a cross-sectional view of the conventional linear motor of FIG. 1A, viewed along the line II—II; 
     FIG. 2 is a cross-sectional view of a conventional motor coil units, showing inefficiently used cross-sectional area; 
     FIG. 3A is a plan view of a race track type diamond shaped coil unit, according to the invention; 
     FIG. 3B is a cross-sectional view of the tip area of the race track coil unit of FIG. 3A, according to the invention; 
     FIG. 3C is an enlarged side view of the tip area of the race track coil unit of FIG. 3A, according to the invention; 
     FIG. 4A is a perspective view of an apparatus for winding a race track type wire band, according to the invention; 
     FIG. 4B is a perspective view of a section of an apparatus for pressing a wire band into the final shape of a coil unit, according to the invention; 
     FIG. 4C is a perspective view of a race track type coil unit, according to the invention; 
     FIGS. 5A and 5B are respectively a plan view and an end view of a race track type diamond shaped linear motor coil suitable for a fixed magnetic track motor, according to the invention; 
     FIGS. 6A and 6B are respectively a plan view and an end view of a diamond shaped folded tip coil unit, according to the invention; 
     FIGS. 7A and 7B are respectively a plan view and an end view of a motor coil suitable for a fixed magnetic track motor using diamond shaped folded tip coil units, according to the invention; 
     FIG. 8A is a perspective view of an apparatus for winding a diamond shaped folded tip wire band, according to the invention; 
     FIG. 8B is a perspective view of an alternative apparatus for winding a diamond shaped folded tip wire band, according to the invention; 
     FIG. 8C is a perspective view and FIG. 8D is a side view of an apparatus for pressing a folded tip wire band into the final shape of a motor coil unit, according to the invention; 
     FIG. 9A is an exploded plan view of a diamond shaped coil unit using a flex circuit, according to the invention; 
     FIG. 9B is a plan view of a linear motor coil using flex circuit diamond shaped coil units, according to the invention; 
     FIGS. 9C,  9 D, and  9 E are schematic plan views of linear motor sections using diamond shaped coil units, showing the coil unit width relative to the magnetic pitch, according to the invention; 
     FIG. 10A is a plan view of a hexagonal coil unit, according to the invention; 
     FIGS. 10B and 10C are schematic plan views of a linear motor section using hexagonal coil units, showing the coil unit width relative to the magnetic pitch, according to the invention; 
     FIGS. 11A,  11 B, and  11 C are respectively a plan view, a cross-sectional view, and a perspective view of a folded tip hexagonal coil unit, according to the invention; 
     FIG. 12 is a perspective view of an apparatus for winding a folded tip hexagonal wire band, according to the invention; 
     FIGS. 13A and 13B are respectively a plan view and an end view of a linear motor coil suitable for a moving coil linear motor using folded tip hexagonal coil units, according to the invention; 
     FIG. 14 is a partial plan view of a section of a linear motor coil using tight wound folded tip hexagonal coil units, according to the invention; 
     FIG. 15 is a partial plan view of a linear motor coil using loose wound folded tip hexagonal coil units, according to the invention; 
     FIG. 16A is a schematic plan view of a row of conductor legs formed on a sheet, of flex circuit, suitable for making hexagonal flex circuit coil units; 
     FIG. 16B is a perspective view of a series of hexagonal coil unit legs, illustrating the spatial relationship and the electrical connection among the coil legs; 
     FIG. 16C is a cross-section view of a linear motor coil core made of flex circuit, illustrating the structure and the electrical connection of the coil core; 
     FIG. 16D is a schematic plan view of a linear motor coil made of flex circuit including several layers of coil units, illustrating the electrical connection between different coil units; 
     FIG. 17A is a schematic diagram illustrating the formation of a race track double diamond shaped coil unit by folding a parallelogram shaped wire band, according to the invention; 
     FIG. 17B is a schematic diagram illustrating the formation of a folded tip double diamond shaped coil unit by folding a parallelogram shaped wire band, according to the invention; 
     FIG. 18 is a plan view of stacked parallelogram shaped wire bands prior to folding to form a row of race track double diamond shaped coil units, according to the invention; 
     FIG. 19 is a plan view of a row of double diamond shaped coil units formed by folding the row of stacked parallelogram shaped wire bands of FIG. 18, according to the invention; 
     FIG. 20A is a perspective view of a moving magnetic track according to the invention; 
     FIG. 20B is a schematic plan view of the magnetic track of FIG. 20A, showing the magnetic flux path, according to the invention; and 
     FIG. 21 is a perspective view of a fixed magnetic track suitable for a moving coil linear motor, according to the invention. 
     FIG. 22 is a schematic diagram illustrating a projection exposure apparatus for manufacturing a semiconductor device having the linear motor with the moving magnet configuration of the present invention. 
    
    
     DETAILED DESCRIPTION OF THE EMBODIMENTS 
     In accordance with the invention, a linear motor coil includes a linear assembly of coil units, each similar to the other. Each coil unit has an electrical conductor formed into a closed band in a designated number of layers, typically a single layer. The shape is that of a substantially planar geometric polygon, such as diamond shaped, hexagonal, parallelogram, or double diamond shaped. The coil units are formed from e.g. electrically conductive wires, ribbon, or flex circuit material. 
     FIG. 3A shows a diamond shaped motor coil unit  300 , in accordance with the invention. A pair of adjacent legs  302 A and  302 B define section  302 , and another pair of adjacent legs  304 A and  304 B define section  304 . Between sections  302  and  304  are shoulders  325 . Sections  302  and  304  and shoulders  325  are integrally formed with one electrically conductive wire or ribbon of substantially uniform cross-section. Shoulders  325  are created along the extension line of inner borders of legs  302 A and  302 B of coil unit  300 . The inner borders of legs  302 A,  302 B,  304 A, and  304 B define a diamond shaped closed conductive band surrounding a diamond shaped void in the central portion. 
     Sections  302  and  304  are arranged in a step-like relationship, whereby section  302  resides in a first plane and section  304  resides in a second plane parallel to and offset from the first plane. The distance between the first and the second planes varies depending on the cross-section of the wire and number of layers. When the coil unit has only one layer of wire, the distance between the first and the second planes is approximately equal to the thickness of the wire. A cross-sectional view of a tip area (where adjacent legs join) formed by the legs  302 B and  304 B of a “race track” type coil unit (the wire is turned from the outside to the inside, or from the inside to the outside, forming a concentric shape) is shown in FIGS. 3B and 3C. Such a coil unit comprises a single layer of wire or ribbon wound continuously to form a wire band. 
     One step in manufacturing a race track type coil unit is to wind a suitable electrically conductive wire or ribbon with surface insulation into a wire band. FIG. 4A shows an apparatus  407  suitable for winding the wire band. Apparatus  407  has a flat platform  405  with four pegs  401 ,  409 ,  411 , and  413  installed at four positions forming the corners of a diamond shape. To form a wire band  480 , electrically conductive wire  419  is wound around pegs  401 ,  409 ,  411 , and  413 , and back to peg  401 . The above process repeats until a desired width is reached. During the winding process, wire  419  is pressed closely against platform  405  to ensure that the wire is tightly wound. Wires are carefully laid next to each other in a planar configuration. 
     In some embodiments, as shown in FIG. 4A, an optional guide plate  418  is used to assist the winding of wire band  480 . Guide plate  418  has four holes  401 A,  409 A,  411 A, and  413 A in alignment with pegs  401 ,  409 ,  411  and  413  on platform  405 . When guide plate  418  is used, each of the pegs  401 ,  409 ,  411  and  413  fits into its corresponding hole. Guide plate  418  is spaced above parallel to platform  405  at a distance substantially equal to the thickness of the wire. A. flat gap is thus formed between platform  405  and guide plate  418 . During wire winding, tension is applied to the wire to ensure that wire band  480  is tight. The use of guide plate  418  prevents the wire from slipping. 
     Another step in the manufacturing of a coil unit is to press flat wire band  480  into a final shape of a coil unit. This step is performed on an arbor press with a special tool. One example of a special tool  440  is shown in FIG.  4 B. Special tool  440  has upper piece  442  and lower piece  444 . The working surfaces of both the upper and lower pieces are profiled so that a coil unit with a desired step-like shape is produced. For example, upper piece  442  has section  446  on one side and section  448  on the other side. Both sections  446  and  448  have a flat working surface, with the working surface of section  446  protruding beyond the working surface of section  448 . Lower piece  444  has section  454  in correspondence with section  448 , and section  464  in correspondence with section  446 . The working surface of section  454  protrudes beyond the working surface of section  464 . The working surfaces of sections  454  and  464  are separated by a chevron shaped shoulder  490 . Sections  448  and  446  are also separated by a shoulder with a corresponding chevron shape (not shown). At a closed position a step-like air gap is formed between upper piece  442  and lower piece  444 . 
     During the pressing operation, wire band  480  is placed on the working surface of lower piece  444 . Wire band  480  is so positioned that the inner borders of two adjoining legs are placed on section  454  of the lower piece  444  of tool  440  parallel and adjacent shoulder  490 . Upper and lower pieces  442 ,  444  of tool  440  then close to grip wire band  480 . Wire band  480  is thus forced to assume the shape of the air gap defined by the upper and lower pieces of tool  440 . The product of the pressing operation is a step-like coil unit  496  as shown in FIG.  4 C. 
     Referring to FIG. 3A, coil unit  300  is of an electrically conductive wire or ribbon coated with an electrically insulating layer, e. g. insulated copper wire. Wires of other electrically conductive material, such as aluminum, silver and gold, are also suitable. Suitable copper wire is available from MWS, Los Angeles, Calif. In one example, the wire used is American Wire Gage (AWG) 19 heavy build copper wire (of approximately 1.0 mm diameter.) In another example, the wire used is AWG 16 heavy build copper wire (of approximately 1.3 mm diameter.) The finished coil is assembled in a “can” (housing) of e. g. magnetically impermeable 300 series stainless steel, preferably 304 stainless steel. In some embodiments other magnetically impermeable materials such as aluminum, or ceramic are used for the can. Similar materials are used for making coils of other configurations described in this specification. 
     FIGS. 5A and 5B are plan and cross-sectional views, respectively, of one row of motor coil units  501 . In FIG. 5A, all coil units  502 - 507  are arranged in a staggered overlapping relationship, wherein each coil unit is partially on top of another coil unit. For example, coil unit  503  is stacked partially on top of coil unit  502 , and coil unit  504  is stacked partially on top of coil unit  503 . With this arrangement, for each row of coil units the working area, other than a small portion around the perimeter of the working aria, has a thickness of two layers of coil units. Because of the substantial uniformity in thickness, a linear motor coil manufactured according to the embodiment has a flat head area and is easy to install and remove in the track. A final motor coil normally uses several rows of coil units such as the one shown in FIGS. 5A and 5B stacked with their respective working areas directly on top of each other. 
     A linear motor in some embodiments has a moving coil configuration; in other embodiments a linear motor has a moving magnet configuration. In a moving magnet configuration, the motor coil is fastened to a part of a device, such as a base of a stepper (x-y) stage, and the magnetic track (fastened to the stage) moves relative to the coil. The coil is made relatively long, about the range of travel of the motor plus the length of the magnetic track. On the other hand, the magnetic track is made relatively short, only long enough to hold magnets for generating sufficient Lorentz force to propel the moving part of the motor. 
     In a moving coil configuration, the magnetic track is fastened to the base of the movable device and the coil (fastened to the stage) moves relative to the magnetic track. The magnetic track is made to be relatively long, about the range of travel of the linear motor plus the length of the coil. On the other hand, the coil is made relatively short. 
     The row of motor coil units  501  shown in FIGS. 5A and 5B is suitable for a moving coil motor. By adding more coil units to lengthen the row of coil units  501 , the row of coil units  501  is made suitable for use as a movable magnet motor. Illustratively, the relevant dimensions of a row of coil units  501  shown in FIGS. 5A and 5B, are listed in Table 1: 
     
       
         
               
             
               
               
               
             
               
               
               
             
           
               
                  TABLE 1 
               
             
             
               
                   
               
               
                 Relevant dimensions of a row of coif units, as shown in 
               
               
                 FIGS. 5A and 5B. 
               
             
          
           
               
                   
                 Dimension 
                 Length (mm) 
               
               
                   
                   
               
             
          
           
               
                   
                 D51 
                 1 
               
               
                   
                 D52 
                 2 
               
               
                   
                 D53 
                 104 
               
               
                   
                 D54 
                 6.95 
               
               
                   
                 D55 
                 50 
               
               
                   
                 D56 
                 33.32 
               
               
                   
                 D57 
                 24.99 
               
               
                   
                 D58 
                 16.66 
               
               
                   
                 D59 
                 8.33 
               
               
                   
                  D510 
                 8.33 
               
               
                   
                   
               
             
          
         
       
     
     Another example of a motor coil according to the invention is shown in FIGS. 6A (plan view) and  6 B (cross-sectional view). Coil unit  601  in FIGS. 6A and 6B is called a folded tip coil unit because of its two folded tips  602  and  603 . Each of folded tips  602  and  603  has a fold radius such as fold radii  607  and  609 . Fold radii  607  and  609  are often desirable for protecting the surface insulation of the coil wire and for preventing the wire from breaking. 
     FIGS. 7A (plan view) and  7 B (side view) show several folded tip coil units assembled together to form a row of motor coil units  701 . Similar to row of motor coil units  501  shown in FIG. 5A, row of motor coil units  701  has two layers of wire across the majority of its working area, while along a small portion at the ends of row  701  there is one layer of wire. Illustratively, shown in FIGS. 7A and 7B are the relevant dimensions listed in Table 2 for a row of folded tip diamond shaped linear motor coil units  701 . 
     
       
         
               
             
               
               
               
             
               
               
               
             
           
               
                  TABLE 2 
               
             
             
               
                   
               
               
                 Relevant dimensions for a row of folded tip diamond shaped linear 
               
               
                  motor coil units, as shown in FIGS. 7A and 7B. 
               
             
          
           
               
                   
                 Dimension 
                 Length (mm) 
               
               
                   
                   
               
             
          
           
               
                   
                 D71 
                 1 
               
               
                   
                 D72 
                 2 
               
               
                   
                 D73 
                 104 
               
               
                   
                 D74 
                 50 
               
               
                   
                 D75 
                 33.32 
               
               
                   
                 D76 
                 24.99 
               
               
                   
                 D77 
                 16.66 
               
               
                   
                 D78 
                 8.33 
               
               
                   
                 D79 
                 8.33 
               
               
                   
                   
               
             
          
         
       
     
     One step in making such a folded tip diamond shaped coil unit is to wind an electrically conductive wire in to a wire band. An apparatus for winding a folded tip diamond shaped wire band is shown in FIG.  8 A. The apparatus includes a first thin plate  805  and a second thin plate  804  held apart by removable braces  831  and  832 . The width of the apparatus is defined by edge  819  of thin plate  805  and edge  829  of thin plate  804 . A blade  810  extends symmetrically perpendicular to the plane of thin plate  805 . Blade  810  of thin plate  805  coincides with the center line of the apparatus as shown in FIG.  8 A and contains a row of guide teeth  809  on each edge. Guide teeth  809  are arranged in a comb-like fashion and are perpendicular to the plane of thin plate  805 . 
     To wind a diamond shaped folded tip wire band, wire  807  is wound around points A, B, C, and D, where it is held in fixed positions at points B and D by two pairs of guide teeth. Wire  807  is then wound to position A′, where the winding process is repeated until the wire band has reached a sufficient width. Removable braces  831  and  832  are then removed to allow thin plates  805  and  804  to be separated from the wire band. 
     FIG. 8B shows another apparatus for winding a wire band. The apparatus includes a thin plate  881  and three chevron shaped pieces  891 ,  882  (shown cutaway), and  885 . The process for winding a wire band using this apparatus starts with placing thin plate  881  between chevron shaped pieces  891 ,  882 , and  885 . Wire  883  is started at the near end of a chevron surface  878  of chevron shaped piece  885  and is wound along the intersection between chevron surface  878  and thin plate  881 . At the far end of surface  878 , wire  883  passes around thin plate  881  to follow a chevron surface  880  of chevron shaped piece  882 , where it is held in place by a “pacer (not shown) wedged between wire  883  and a chevron surface  879  of chevron shaped piece  891 . Wire  883  is wound around again similarly. Each time wire  883  is wound, the spacer is replaced by a slightly thinner spacer, until the gap between chevron surfaces  879  and  880  is filled with wire. Chevron shaped piece  882  is needed, because wire  883  winds from the outer border in toward the inner border in one section of the wire band. In other embodiments, variations of this tool are applied, without departing from the inventive principle described herein. 
     Another step in making a folded tip diamond shaped coil unit is to press the wire band into the final shape of a coil unit. This is performed on an arbor press using a press tool. FIGS. 8C and 8D show one example of such a press tool  800  having upper piece  820  and lower piece  822 . Upper piece  820  has a flat working surface between edges  824 ,  826  while lower piece  822  has elevated rectangular section  823 . Elevated rectangular section  823  also has a flat working surface. Wire band  870  is carefully positioned on top of the lower piece such that the body of wire band  870  rests on convex section  823  while the tips extend beyond convex section  823 . Upper piece  820  is then lowered pressing wire band  870 . Edges  824 ,  826  control the coil unit width when it is pressed. The final shape of the coil unit  871  is shown in FIG.  8 D. 
     Alternatively, the row of coil units is first stacked, then pressed together. 
     In some embodiments flex circuit coil units, such as flexible substrates, are used in the motor coil. Illustratively, a flex circuit coil unit is shown in FIG.  9 A. Flex circuit conventionally is a sheet of electrically conductive material bonded with a layer of electrically insulating material  965  (see FIG. 9B) such as polyimide film. FIG. 9A schematically shows two coil legs  905  and  907  etched on flex circuit. In an installed position, stripped end  913  (back side) of leg  905  is electrically connected with stripped end  909  (front side) of leg  907 . Connection is made by soldering or other suitable methods. Stripped end  917  (front side) of leg  905  and stripped end  915  (back side) of leg  907  are fitted to be connected to power supply wires or to another coil unit. 
     FIG. 9B shows a section of a motor coil  999  using flex circuit in accordance with the invention. Coil legs  921 ,  922 ,  923 ,  924 ,  925 , and  926  are etched on one sheet of flex circuit material, while legs  931 ,  932 ,  933 ,  934 ,  935 , and  936  are etched on another sheet of flex circuit. The techniques for etching a flex circuit are well known to those skilled in the motor art. 
     FIGS. 9C,  9 D, and  9 E depict linear motors using diamond shaped coil units. The coil unit width and wire band width relative to the magnetic pitch are as shown. These examples pertain to all diamond shaped coil units, including the race track hype, folded tip type, and the flex circuit type. Each of the examples shown has a different wire band width relative to the pole pitch. The motors shown in FIGS. 9C,  9 D, and  9 E all use three-phase commutation (three-phase alternating current). According to the invention, a linear motor is conventionally commutated using two or more phases of electric current to generate long range continuous motion. Single phase commutation is also possible, if short range linear motion is preferred. 
     In FIG. 9C, the width Wcl of a coil unit is equal to the magnetic pitch P 1 . The width Vvl of the diamond shaped void is equal to four times the width of the wire band V B   1 . In the example shown in FIG. 9D, the width Wc 2  of the coil unit is equal to ⅔ the magnetic pitch P 2 . The width Vv 2  of the diamond shaped void is equal to twice the width V B   2  of the wire band. In the example shown in FIG. 9E, the width Vc 3  of the coil unit is equal to one half of the magnetic pitch P 3 , and the width of the diamond shaped void Vv 3  is equal to the width V B   3  of the wire band. Other configurations are possible according to the invention. In an alternative configuration not shown, it is desirable that the width of the diamond shaped void is an integral multiple of the width of the wire band. 
     In some embodiments a linear motor employs a hexagonal coil unit. FIG. 10A shows one example of a hexagonal coil unit. A hexagonal coil unit has two straight parallel legs  1011  and  1013  that are perpendicular to the movement direction of the coil. At the ends of the coils there are two triangular sections  1015  and  1017 , each with two slant legs integrally formed with straight legs  1011  and  1013 . The straight legs  1011  and  1013  and the triangular sections define a hexagonal shaped void in the central portion. Because straight legs  1011  and  1013  of the hexagonal coil unit are perpendicular to the movement direction of the coil, a greater Lorentz force is created for a given electric current in comparison with the diamond shaped coil units. 
     Because the resistance is approximately the same, the motor constant is higher. Theoretically, the Lorentz force generated by a hexagonal coil unit is in the range of approximately 30% greater than that generated by a diamond shaped coil unit. 
     FIG. 10B is a schematic view of a linear motor having one row of hexagonal coil units. In some embodiments a final motor coil assembly contains one row of coil units; in other embodiments a final motor coil assembly contains a plurality of rows of coil units. When more than one row of coil units is used, the rows of coil units are stacked on top of each other. One possible position of the magnets of the motor are shown in dashed lines. With a single layer coil unit, the row of coil units shown in FIG. 10B has two wire thicknesses across most of the working area. Only a small portion at the ends has one layer of wire. 
     In the example shown in FIG. 10B, the width Wc 4  of the coil unit is equal to ⅔ of the magnetic pitch P 4 . The hexagonally shaped void has a width Vv 4  of twice the width Vb 4  of the wire band. In another example of a linear motor shown schematically in FIG. 10C, the width Wc 5  of the coil unit is equal to one half of the magnetic pitch P 5 . The width of the hexagonal shaped void Vv 5  is equal to the width Vb 5  of the wire band. Other alternative configuration are possible according to the invention. In each of these configurations, it is desirable for the width of the hexagonal shaped void to equal an integral multiple of the width of the wire band. 
     Both race track type and folded tip type hexagonal coil units are manufactured according to the invention. One step in making a race track hexagonal coil unit is to wind a flat wire band. 
     This is performed using an apparatus similar to that shown in FIG.  4 A. Since a coil unit in this example has a hexagonal shape, the apparatus shown in FIG. 4A must be modified to have 6 pegs instead of 4 pegs. Another step in making a race track hexagonal coil unit is to press the wire band into the final shape using a press tool similar to that shown in FIG.  4 B. 
     A variation of the coil unit shown in FIG. 10A is the folded tip hexagonal coil unit  1100  as shown  5  in FIGS. 11A (plan view),  11 B (side view), and  11 C (perspective view). Coil unit  1100  is called a folded tip hexagonal coil unit because of the folded tips  1102  and  1104 . Coil units  1100  has two sections  1108  and  1110 . Section  1108  is in a first plane, while section  1110  is in a second plane parallel and offset from the first plane. The first and second planes are set apart by a predetermined distance. The distance between the first plane and the second plane varies to maximize conductor density, and is typically one wire thickness for a single layer coil unit. 
     One step in making folded tip coil unit  1100  is to wind wire to form a hexagonal wire band. An apparatus for winding a wire to form a wire band is shown in FIG.  12 . This apparatus is similar to that shown in FIG. 8A, but with two rows of guide teeth  1209  on each of plates  1205  and  1206 . Plates  1205  and  1206  are separated by removable braces  1201 . To form a wire band using the apparatus shown in FIG. 12, wire  1207  is first wound around points A, B, C, D, E, and F. At each of points B, C, E, and F, wire  1207  is held in a fixed position by a pair of guide teeth. The wire then is wound around point A′ and the process repeats until a design width is reached. Removable braces  1201  are then removed to allow plates  1205  and  1206  to be separated from the wire band. In a subsequent step, the wire band is pressed into the final shape of a coil unit in an apparatus similar to that shown in FIG.  8 B. 
     FIGS. 13A (plan view) and  13 C (side view) show a linear motor coil using folded tip hexagonal coil units, according to the invention. The coil units are installed in a staggered overlapping configuration to form a coil with a substantially uniform thickness. The coil units are installed in a can of non-magnetic material, e.g., 300 series stainless steel (or aluminum, ceramic, etc.). 
     One problem in designing a wire band for making a hexagonal coil unit, either a race track type or a folded tip type, is the wire band width. FIG. 14 shows a position of a wire band according to the invention that exemplifies the problem. In FIG. 14, the wire band has a width W. Slanted legs  1401  and  1402  of the coils are stacked closely against each other in order to maximize conductor density. At the parallel leg section, however, the distance between the edges of two neighboring legs is W 1 . If the angle between the slant leg and the straight leg is Ø, the distance W 1  between the two neighboring parallel leg edges is W divided by Ø: 
     
       
           W   1   =W /cos Ø 
       
     
     Since cos Ø, is less than 1, W 1  is always larger than W. The larger the angle Ø, the larger the distance W 1 . 
     Because the distance between the neighboring leg edges is larger than the width of a leg, special winding techniques must be used to assure that a uniform coil thickness is obtained. One arrangement is to use tight wound coil units illustrated in FIG.  14 . In FIG. 14, a coil unit is tightly wound so that no space is left between neighboring sections of a wire. The width of the straight leg and that of the slant leg are both equal to W. When the coil units are assembled to form a coil, however, a small gap appears between adjacent straight legs. The width of the gap is W 1 −W. 
     Another arrangement is to use the loose wound coil units shown partially in FIG.  15 . The extra width W 1 −W in this type of coil unit is distributed among the neighboring wire sections within the same coil unit. In FIG. 15, each slant leg has a width W, while each straight leg has a width of W 1 . Each wire section in the slant leg is packed tightly next to the other. In the straight leg section each wire is spaced apart from each other. The width of the gap Wg between one wire section and a neighboring wire section is expressed in the following formula: 
       Wg =( W   1   −W )/( n− 1), 
     where n is the number of wires wound in a wire band. In some embodiments, the above described winding arrangements are used for both the race track type and folded tip type hexagonal coil units. 
     Referring to FIGS. 11A,  11 B,  13 A, and  13 B, the relevant dimensions of three examples of a motor coil are given in Table 3. Although the motor coil shown in FIG. 13A is a moving coil, a moving magnet motor coil is produced by adding more coil units to the assembly, as shown by the dimensions for one example of a moving magnet motor in Example 3 of Table 3. Illustratively, the length D1112 for the moving magnet motor coil of Example 3 is much larger than for the moving coils of Examples 1 and 2, because there are a larger number of coil units in each row of Example 3. Table 3. Relevant coil dimensions for three examples of a motor coil shown in FIGS. 11A,  11 B,  13 A, and  13 B. Dimensions are in millimeters unless otherwise specified. 
     
       
         
               
               
               
               
             
               
               
               
               
             
           
               
                   
               
               
                   
                 Example 1, 
                 Example 2, 
                   
               
               
                 Example No., 
                 Loose Wound, 
                 Tight Wound, 
                 Example 3, 
               
               
                 Motor Type 
                 Moving Coil 
                 Moving Coil 
                 Moving Magnet 
               
               
                   
               
             
             
               
                   
               
             
          
           
               
                 Number of Coil 
                 6 
                 6 
                 33 
               
               
                 Units in a Row 
               
               
                 D1101 
                 1.0 
                 1.0 
                 1.0 
               
               
                 D1102 
                 2.0 
                 2.0 
                 2.0 
               
               
                 D1103 
                 104 
                 104 
                 104 
               
               
                 D1104 
                 87.2 
                 87.2 
                 87.2 
               
               
                 D1105 
                 16.67 
                 17.55 
                 17.55 
               
               
                 D1106 
                 8.33 
                 7.45 
                 7.45 
               
               
                 D1107 
                 7.45 
                 7.45 
                 7.45 
               
               
                 D1108 
                 33.33 
                 32.45 
                 32.45 
               
               
                 D1110 
                 26.6 
                 26.6 
                 26.6 
               
               
                 (degrees) 
               
               
                 D1112 
                 74.97 
                 74.09 
                 299 
               
               
                 coil length 
               
               
                 D1113 
                 24.99 
                 24.99 
                 24.99 
               
               
                 D1114 
                 16.66 
                 16.66 
                 16.66 
               
               
                 D1115 
                 8.33 
                 8.33 
                 8.33 
               
               
                   
               
             
          
         
       
     
     Another example of a linear motor according to the invention uses a flex circuit for making a motor coil unit. FIG. 16A shows a row of coil legs for making hexagonal coil units. Partition gaps  1602  are etched on the conductor layer of the flex circuit, leaving coil unit legs  1601  mutually insulated from each other. Flex circuit coils avoid the difficulties associated with band width as described above in connection with FIGS. 14 and 15, because the insulating gaps ate etched onto a single substrate instead of being wound. 
     The conductor layer on a sheet of flex circuit commonly has a small thickness, in the range of a fraction of a millimeter. Thus multiple layers are normally used in a motor coil to generate sufficient Lorentz force. FIG. 16B schematically illustrates the inter-layer electrical connection of a section of coil legs. At coil leg head area  1611 A, the insulation layer is shown etched away to expose the conductor layer, and the conductor layer is electrically connected to in outside power supply cable or to a neighboring coil unit through an interconnect (such as interconnect portion  1650  in FIG.  16 D). One end of the coil has no insulation on either side; the other end has insulation on one side. 
     Head area  1611 B of leg  1611  is electrically connected to head area  1621 B of leg  1621 , in which area the insulation layer is similarly etched away. Head area  1621 A of leg  1621  is electrically connected to head area  1612 A of leg  1612 . The other coil leg heads are connected in a similar fashion. In a motor coil connected using this configuration, electric current flows in a spiral fashion from one leg to another leg in the direction indicated by the arrows. The electrical connection is made with solder or other electrically conductive adhesive material, such as electrically conductive epoxy or pressure sensitive tape. In some embodiments, other electrical contacting materials are used. At the last coil leg  1623 , the head area  1623 A is electrically connected to another coil or to a power supply cable. 
     FIG. 16C illustrates a cross section of a motor coil where the areas for making the electrical connection are enlarged to show details. Insulation layer  1661  of e.g. polyimide film and conductor layer  1671  of e.g. copper form a first sheet of flex circuit. Insulation layer  1662  and conductor layer  1672  form a second sheet of flex circuit. The other sheets of flex circuits are similar in structure. An extra insulation layer  1668  is provided at the bottom to insulate to the last conductor layer. 
     Conductor layer  1671  is etched to form a row of coil legs analogous to, for example, leg  1611  of FIG.  16 B. Conductor layer  1672  is etched to form a row of coil legs analogous to, for example, leg  1621  of FIG.  16 B. At end  1699  and between lines  1693  and  1694 , the insulation layer  1662  is etched away to expose conductor layer  1672 , to form a leg head area analogous to, for example, head area  1621 B of FIG.  16 B. Electrical connection is established using electrically conductive material  1681 . At end  1698  and between lines  1691  and  1692 , insulation layer  1663  is etched away to expose conductor layer  1673 . Electrical connection between conductor layers  1672  and  1673  is established using electrically conductive material  1682 . Insulation layer  1661  is etched away at end  1698  to expose conductor layer  1671  to form an area  1675 , which is analogous to, for example, area  1611 A of FIG. 16B. A similar exposed area  1674  is etched on insulation layer  1668  at the opposite side. 
     FIG. 16D shows a motor coil core after the electrical connection has been established. A series of interconnects, such as interconnect  1650 , electrically connects one coil unit to another coil unit of the same phase group. 
     Yet another configuration of a motor coil according to the invention uses double diamond shaped motor coil units as shown in FIG.  17 A. Coil unit  1700  has two cross legs C′ E and BF intercepting each other at point O. Point O thus divides leg C′ E into two equal length sections C′ O and EO and divides leg BF into two equal length sections BO and FO. Sections BO and EO and legs AE and AB form one diamond shape, and sections FO and C′ O and legs D′ F and C′ D′ form another diamond shape. 
     One step in making a double diamond shaped coil unit is to form a parallelogram wire band. In some embodiments the parallelogram wire band is a race track type. In some embodiments the parallelogram wire band is a folded tip type. A race track type parallelogram wire band ABDC is shown in FIG. 17A, partially in dashed lines. Parallelogram wire band ABDC is wound so that the length of the two long legs AC and BD is three times the length of the two short legs AB and CD. When parallelogram wire band ABDC is folded at points E and F into a double diamond shaped coil unit  1700  (all solid lines), points C and D become points C′ and D′ respectively, and legs BF and EC′ intersect at Point O. In some embodiments a race track type parallelogram wire band is wound using an apparatus similar to that shown in FIG. 4A, as described above. 
     FIG. 17B shows a folded tip type parallelogram wire band A 1 B 1 D 1  C 1  (partially in dashed lines) having folded tips B 1  and C 1 . When parallelogram wire band A 1 B 1 D 1 C 1  is folded at points E 1  and F 1  into a double diamond shaped coil unit  1702  (all solid lines), points C 1  and D 1  became points C 1 ′ and D 1 ′ respectively, and legs B 1 F 1  and E 1 C 1 ′ intersect at point O 1 . In some embodiments an apparatus similar to that shown in either FIG. 8A or FIG. 8B is employed to wind a folded tip parallelogram wire band. 
     Subsequent to the winding of a wire band, another step in making the double diamond shaped coil unit is to stack a desired number of wire bands in a shingle like relationship. FIG. 18 shows five wire bands  1801 ,  1802 ,  1803 ,  1804 , and  1805  stacked together. Since the stacking processes for a race track type and a folded tip type wire bands are similar, FIG. 18 is used to illustrate both types, even though race track type wire bands are shown. Wire band  1804  is stacked partially on top of wire band  1805 , and the outside edges of legs  1804 C and  1804 D are closely against the inside edges of the corresponding legs  1805 C and  1805 D of wire band  1805 . Similarly wire band  1803  is stacked partially on top of wire band  1804 , and the outside edges of legs  1803 C and  1803 D are closely against the inside edges of the corresponding legs  1804 C and  1804 D. In a similar fashion, wire bands  1802  and  1801  are stacked on. Pressure sensitive tape or an adhesive hold the wire bands together. 
     Another step in making a motor coil is to fold the stacked parallelogram wire band into a motor coil unit. In FIG. 18, two fold points E and F are chosen for wire band  1801 . Fold point E is chosen so that the length of CE is twice the length of AE. Similarly, fold point F is chosen so that the length BF is twice the length FD. Folding points are chosen on each of the wire bands. Because of the uniformity of wire band shape and size, the fold points form a straight line. 
     FIG. 19 shows a row of double diamond shaped coil units  1900  formed of wire bands after the folding process. Rows of linear motor coil units using folded tip wire bands are similar. In some embodiments these rows of coil units are stacked, shingle-like to form longer coils. 
     In accordance with the invention, it is also possible to make a double diamond shaped coil unit using flex circuit, with the coil wires insulated on both sides. 
     In some embodiments the rows of motor coil units of any shape described above are used in a single row motor coil configuration. In some embodiments the rows of motor coil units of any shape described above are used in a multi-row motor coil configuration. 
     FIG. 20A shows a magnetic track  2000  provided for a movable magnet type linear motor according to the invention. Magnetic track  2000  includes rail  2005  and two side rails  2006  attached to rail  2005  by screws  2001  to form a “U” shape. Magnets  2003  and short magnets  2004  are attached to side rails  2006  to form magnet pairs. Magnets of each pair face each other across a gap. 
     Rail  2005  is of non-magnetic material, such as  304  stainless steel, aluminum or ceramic. Side rails  2006  are of magnetic material (e. g. steel) with saturation flux density equal to or greater than 16,000 gauss. Magnets  2003  and short magnets  2004  are of e.g. high quality NdFeB permanent magnet material with a permanent magnetic flux density of 13,500 or greater gauss. A higher motor constant is obtained if the magnetic flux density is higher. The magnets are coated to prevent corrosion. 
     FIG. 20B shows the arrangement of the magnetic flux path of the magnetic track shown in FIG.  20 A. By properly arranging the polarity of the magnets, the magnetic flux across the magnetic track forms closed loops. 
     FIG. 21 shows a magnetic track  2100  for a moving coil motor according to the invention. Magnetic track  2100  includes rail  2105  and two side rails  2106  attached to rail  2105  by screws  2101  to form a “U” shape. Magnets  2103  and short magnets  2104  are attached to side rails  2106  to form pairs of magnets. Magnets of each pair face each other across a gap. Illustratively, magnetic track  2100  is made of the same materials as magnetic track  2000  in FIG.  20 A. As described above, magnetic track  2100  for a moving coil motor is longer than magnetic track  2000  for a moving magnet motor. 
     Although the present invention is described in terms of several embodiments, these embodiments are illustratively only and do not limit the scope of the invention. Numerous modifications can be made without deviating from the spirit of the invention. For example, although the coil units in the described embodiments contain one layer of wire, coil units in other embodiments contain two or more layers or wire. In some embodiments a coil unit with two layers of wire is formed by stacking one single layer coil unit on top of another single layer coil unit. These and other variations fall within the scope of the invention, which is best defined by the following claims. 
     Further, the present invention may be applied to a coil unit of a planar motor, for driving a stage by electromagnetic force, in which a magnet unit, having magnets disposed in a two-dimensional array, and an armature unit, having coils disposed in a two-dimensional array, face each other. In this case, one of the magnet unit and the armature unit is connected to the stage, and the other is provided on the movable surface of the stage. The planar motor is disclosed in U.S. Pat. No. 4,654,571, and the present invention can be applied while the structure disclosed in this patent may be modified if necessary. 
     The coil unit of the present invention can be applied to the shaft-type linear motor disclosed in U.S. Pat. No. 4,460,855. In this case, the present invention can be applied to an armature unit of the motor while the structure disclosed in this patent may be modified if necessary. 
     FIG. 22 is a schematic diagram illustrating a projection exposure apparatus  100  for manufacturing a semiconductor device having the linear motor with the moving magnet configuration of the present invention. The projection exposure apparatus  100  comprises a vibration-proof base  103  constituting a base, a stage device  102  provided on the vibration-proof base  103 , a light source  108 , an illumination optical system  109 , a reticle stage  110 , a projection lens  111 , an interferometer  112 . The stage device  102  has a linear motor  104 , and a table (substrate stage)  107  which serves as a mounting base for mounting a wafer (substrate) W which is a photosensitive substrate. A stage controller  114  controls the linear motor  104  so as to move the table  107 , which is guided by a guiding mechanism (not shown) such as an air bearing, to a predetermined position. The illumination optical system  109  comprises a lens system such as a fly eye lens, or a condenser lens, and acts as a secondary light source. 
     In the projection exposure apparatus  100 , the light is emitted from the light source  108  to a specified photosensitive region on the wafer W surface, and is focused via the illumination optical system  109 , the reticle (mask) placed on the reticle stage  110 , and the projection lens system  111 , to the wafer W. Thus, a predetermined mask pattern is formed on the wafer W. 
     The interferometer 112  measures the position of the table  107 , based on the light reflected from a movable mirror  113  provided on the table  107 , and outputs the results to the stage controller  114 . After the completion of the projection and exposure of the exposure region, the linear motor  104  is driven to move the table  107  by the stage controller  114 , based on the output from the interferometer 112 , so that the next exposure region is set to a specified position within the projection field of the projection lens  111 . 
     The exposure apparatus of the present invention is applied to a scanning type exposure apparatus (e.g., U.S. Pat. No. 5,473,410) which simultaneously moves a mask (reticle) and a substrate (wafer) to expose a pattern of the mask. In this case, the linear motor shown in FIG. 22 is used as the driving source for the mask stage for moving the mask. Further, in addition to the scanning type exposure apparatus, the present invention can be applied to a step-and-repeat type exposure apparatus which exposes a mask and pattern with the mask and substrate in a stationary condition, sequentially stepping the substrate. 
     Further, the present invention can be applied to a proximity exposure apparatus which does not use a projection optical system, but locates the mask and substrate close together and exposes the pattern of the mask. 
     Moreover, use of the exposure apparatus, is not limited to the exposure apparatus used for semiconductor manufacture. For example, this can be widely applied to liquid crystal exposure apparatus which expose liquid crystal display device patterns on a rectangular glass plate, or in exposure apparatus for the manufacture of thin film magnetic heads. 
     For the light source of the exposure apparatus, not only can a g-line (436 nm) and i-line (365 nm), a KrF excimer laser (248 nm), an ArF excimer laser (193nm), a F 2  laser (157nm) be used, but also a charged particle beam such as an X-ray or electron beam may be used. For example, when an electron beam is used, a thermionic emission type lanthanum hexaborane (LaB 6 ) or tantalum (Ta) electron gun may be used for the electron gun. 
     When the exposure apparatus uses an electron gun, the present invention can be applied to both a system using a mask, and a direct draw system which does not use a mask. 
     Regarding the magnification of these projection optical systems, these may be not only reduction systems but may also be equal magnification and enlargement systems. 
     For the projection optical system (which contains the illumination optical system for irradiation), when far ultraviolet radiation such as with an excimer laser is used, a glass material which transmits far ultraviolet radiation such as quartz or fluorite is used. When an F 2  laser or an X-ray is used, a reflection/refraction system or refraction system optical system (the reticle also uses a reflecting type) is used. Moreover, when an electron beam is used, an electrooptical system comprising an electrooptic lens and a deflector may be used for the optical system. Here needless to say, the optical path along which the electron beam passes is evacuated. 
     When the linear motor is used for the driving source for the substrate stage (stage device) or the mask stage, an air levitation type using an air bearing, or a magnetic levitation type using Lorentz force or reactance force can be employed. Moreover, the stage may be moved along a guide, and a guide-less type which does not have a guide may be employed. 
     The reaction force produced by the movement of the substrate (wafer) stage may be mechanically released to the floor (ground) by frame members, as disclosed in Japanese Unexamined Patent Application, First Publication No. Hei 8-166475 (U.S. Pat. No. 5,528,118). 
     The reaction force produced by the movement of the mask (reticle) stage may be mechanically released to the floor (ground) by frame members, as disclosed in Japanese Unexamined Patent Application, First Publication No. Hei 8-330224 (U.S. Ser. No. 08/416,558). 
     The exposure apparatus of the embodiment of the present invention is manufactured by assembling sub-systems which contains structural elements described in claims with specified machine accuracy, electric accuracy, and optical accuracy. To ensure the accuracy, before and after the assembling process, the optical system is coordinated to achieve the optical accuracy, the mechanical system is coordinated to achieve the machine accuracy, and the electric system is coordinated to achieve the electric accuracy. The process for assembling the various sub-systems to manufacture the exposure apparatus includes connecting mechanical parts, connecting electric circuits, and connecting pipes of pressure circuits, between the sub-systems. Needless to say, before the assembling of the sub-systems for constructing the exposure apparatus, the respective sub-systems must be assembled. When the assembling of the sub-systems for constructing the exposure apparatus is completed, the apparatus is totally coordinated to ensure the accuracy of the entire exposure apparatus. Preferably, the exposure apparatus is manufactured in a clear room whose temperature and extent of cleanness are managed. 
     The semiconductor device is manufactured by steps of: designing the function and performance of the device, producing a reticle, based on the designing step, producing a wafer from silicon material, exposing the pattern of the reticle on the wafer by the exposure apparatus of the above-described embodiment, assembling the device (which includes a dicing step, a bonding step, and a packaging step), and inspecting step.