Patent ID: 12198954

DETAILED DESCRIPTION

Hereinafter, various exemplary embodiments will be described.

In an exemplary embodiment, an execution device is provided, which is transported to a transport device provided in a semiconductor manufacturing apparatus and executes a predetermined operation. The execution device includes an operation device, a first acceleration sensor, a second acceleration sensor, and a control device. The operation device is a device for executing a predetermined operation. The first acceleration sensor detects acceleration in a first direction along a horizontal direction. The second acceleration sensor detects acceleration in a second direction intersecting the first direction along the horizontal direction. The control device recognizes a transport position of the execution device in the semiconductor manufacturing apparatus based on output values from the first acceleration sensor and the second acceleration sensor. When it is recognized that the execution device is transported to a predetermined position, the control device causes the operation device to execute the predetermined operation.

In the execution device in the embodiment described above, the horizontal acceleration applied to the execution device is detected by the first acceleration sensor and the second acceleration sensor provided in the execution device. Therefore, the transport position of the execution device can be recognized by specifying a transport state based on the output values from the first acceleration sensor and the second acceleration sensor. By controlling the operation device to execute the predetermined operation when it is recognized that the execution device is transported to a predetermined position, the predetermined operation can be automatically executed at the desired position.

In an exemplary embodiment, the control device may store recipe information indicating a relationship between information on the acceleration applied to the execution device transported to the transport device and information on the transport position. The control device may recognize the transport position from the acceleration derived based on the output values from the first acceleration sensor and the second acceleration sensor with reference to the recipe information.

In an exemplary embodiment, the operation device may include a plurality of light sources that emit light having wavelengths different from each other, and the predetermined operation may be a light emission from the plurality of light sources.

In another exemplary embodiment, an execution method for causing an execution device transported to a transport device provided in a semiconductor manufacturing apparatus to execute a predetermined operation, is provided. This method includes acquiring acceleration of the execution device in a first direction along the horizontal direction and a second direction intersecting the first direction along a horizontal direction. This method includes recognizing a transport position of the execution device in the semiconductor manufacturing apparatus based on the acceleration. This method includes causing the execution device to execute the predetermined operation when it is recognized that the execution device is transported to a predetermined position.

In an exemplary embodiment, the recognizing of the transport position may include referring to recipe information indicating a relationship between information on the acceleration applied to the execution device transported to the transport device and information on the transport position.

In an exemplary embodiment, the executing of the predetermined operation may include emitting light having wavelengths different from each other by a plurality of light sources.

Hereinafter, various embodiments will be described in detail with reference to the drawings. The same reference numerals will be given to the same or corresponding parts in each drawing.

The execution device according to one exemplary embodiment can be transported by a processing system1that has a function as a semiconductor manufacturing apparatus S1. First, a processing system that includes a processing device for processing the workpiece and a transport device for transporting the workpiece to the processing device will be described.FIG.1is a diagram illustrating a processing system. The processing system1includes tables2ato2d, containers4ato4d, a loader module LM, an aligner AN, a load lock modules LL1and LL2, a process modules PM1to PM6, a transfer module TF, and a controller MC. The number of tables2ato2d, the number of containers4ato4d, the number of load lock modules LL1and LL2, and the number of process modules PM1to PM6are not limited, and any number of equal to or greater than one can be used.

The tables2ato2dare arranged along one edge of the loader module LM. The containers4ato4dare mounted on the tables2ato2d, respectively. Each of the containers4ato4dis, for example, a container called a front opening unified pod (FOUP). Each of the containers4a-4dcan be configured to accommodate the workpiece W. The workpiece W has a substantially disk shape like a wafer.

Inside of the loader module LM, there is a chamber wall that defines a transport space under atmospheric pressure. A transport device TU1is provided in this transport space. The transport device TU1is, for example, an articulated robot and is controlled by the controller MC. The transport device TU1is configured to transport the workpiece W between the containers4ato4dand the aligner AN, between the aligner AN and the load lock modules LL1to LL2, and between the load lock modules LL1to LL2and the containers4ato4d.

The aligner AN is connected to the loader module LM. The aligner AN is configured to adjust the position of the workpiece W (calibrate the position).FIG.2is a perspective view illustrating an aligner. The aligner AN includes a support stand6T, a drive device6D, and a sensor6S. The support stand6T is a stand that can rotate around the axis extending in the vertical direction. The support stand6T is configured to support the workpiece W. The support stand6T is rotated by the drive device6D. The drive device6D is controlled by the controller MC. When the support stand6T is rotated due to the power from the drive device6D, the workpiece W placed on the support stand6T is also rotated.

The sensor6S is an optical sensor. The sensor6S detects the edge of the workpiece W while the workpiece W is rotated. From the result of detecting the edge, the sensor6S detects an amount of deviation of an angle position of a notch WN (or another marker) of the workpiece W with respect to a reference angle position and an amount of deviation of a center position of the workpiece W with respect to the reference position. The sensor6S outputs the amount of deviation of the angle position of the notch WN and the amount of deviation of the center position of the workpiece W to the controller MC. The controller MC calculates an amount of rotation of the support stand6T for correcting the angle position of the notch WN to the reference angle position based on the amount of deviation of the angle position of the notch WN. The controller MC controls the drive device6D to rotate the support stand6T as much as the amount of rotation. In this way, the angle position of the notch WN can be corrected to the reference angle position. In addition, the controller MC controls a position of an end effector of the transport device TU1when receiving the workpiece W from the aligner AN based on the amount of deviation of the center position of the workpiece W. In this way, the center position of the workpiece W matches the predetermined position on the end effector of the transport device TU1.

Returning toFIG.1, each of the load lock module LL1and the load lock module LL2is provided between the loader module LM and the transfer module TF. Each of the load lock module LL1and the load lock module LL2provides a preliminary decompression chamber.

The transfer module TF is airtightly connected to the load lock module LL1and the load lock module LL2via a gate valve. The transfer module TF provides a decompression chamber capable of decompression. A transport device TU2is provided in this decompression chamber. The transport device TU2is, for example, an articulated robot having a transport arm TUa. The transport device TU2is controlled by the controller MC. The transport device TU2is configured to transport the workpiece W between the load lock modules LL1to LL2and the process modules PM1to PM6, and between any two process modules of the process modules PM1to PM6.

The process modules PM1to PM6are airtightly connected to the transfer module TF via the gate valve. Each of the process modules PM1to PM6is a processing device configured to perform a dedicated process such as plasma processing on the workpiece W.

A series of operations when the processing on the workpiece W is performed in the processing system1will be illustrated as follows. The transport device TU1of the loader module LM takes out the workpiece W from any of the containers4ato4dand transports the workpiece W to the aligner AN. Subsequently, the transport device TU1takes out the position adjusted workpiece W from the aligner AN, and transports the workpiece W to one of the load lock module LL1and the load lock module LL2. Next, one load lock module reduces the pressure in the preliminary decompression chamber to a predetermined pressure. Next, the transport device TU2of the transfer module TF takes out the workpiece W from one of the load lock modules and transports the workpiece W to any of the process modules PM1to PM6. Then, one or more process modules among the process modules PM1to PM6performs processing on the workpiece W. Then, the transport device TU2transports the processed workpiece W from the process module to one of the load lock module LL1and the load lock module LL2. Next, the transport device TU1transports the workpiece W from one of the load lock modules to any of the containers4ato4d.

This processing system1includes the controller MC as described above. The controller MC can be a computer including a processor, a storage device such as a memory, a display device, an input/output device, a communication device, and the like. The series of operations of the processing system1described above are realized by controlling each part of the processing system1by the controller MC according to the program stored in the storage device.

FIG.3is a diagram illustrating an example of a plasma processing device that can be adopted as any of the process modules PM1to PM6. A plasma processing device10illustrated inFIG.3is a capacitance-coupling type plasma etching device. The plasma processing device10includes a chamber12having a substantially cylindrical shape. The chamber12is made of, for example, aluminum, and the inner wall surface thereof may be anodized. This chamber12is grounded for security.

A support portion14having a substantially cylindrical shape is provided on a bottom portion of the chamber12. The support portion14is formed of, for example, an insulating material. The support portion14is provided in the chamber12. The support portion14extends upward from the bottom portion of the chamber12. In addition, a stage ST is provided in a chamber S provided by the chamber12. The stage ST is supported by the support portion14.

The stage ST includes a lower electrode LE and an electrostatic chuck ESC. The lower electrode LE includes a first plate18aand a second plate18b. The first plate18aand the second plate18bare formed of a metal such as aluminum, and have a substantially disk shape. The second plate18bis provided on the first plate18aand is electrically connected to the first plate18a.

The electrostatic chuck ESC is provided on the second plate18b. The electrostatic chuck ESC has a structure in which an electrode, which is a conductive film, is arranged between a pair of insulating layers or insulating sheets, and has a substantially disk shape. A DC power supply22is electrically connected to the electrode of the electrostatic chuck ESC via a switch23. This electrostatic chuck ESC adsorbs the workpiece W by an electrostatic force such as a Coulomb force generated by a DC voltage from the DC power supply22. In this way, the electrostatic chuck ESC can hold the workpiece W.

A focus ring FR is provided on a peripheral edge of the second plate18b. This focus ring FR is provided to surround the edge of the workpiece W and the electrostatic chuck ESC. The focus ring FR can be formed from any of a variety of materials such as silicon, silicon carbide, and silicon oxide.

A refrigerant flow path24is provided inside the second plate18b. The refrigerant flow path24configures a temperature control mechanism. Refrigerant is supplied to the refrigerant flow path24from a chiller unit provided outside the chamber12via a pipe26a. The refrigerant supplied to the refrigerant flow path24is returned to the chiller unit via the pipe26b. As described above, the refrigerant is circulated between the refrigerant flow path24and the chiller unit. The temperature of the workpiece W supported by the electrostatic chuck ESC is controlled by controlling the temperature of this refrigerant.

A plurality of (for example, three) through holes25penetrating the stage ST are formed in the stage ST. The plurality of through holes25are formed inside the electrostatic chuck ESC in a plan view. A lift pin25ais inserted into each of these through holes25. InFIG.3, one through hole25into which one lift pin25ais inserted is drawn. The lift pin25ais provided to be vertically movable in the through hole25. When the lift pin25arises, the workpiece W supported on the electrostatic chuck ESC rises.

In the stage ST, a plurality of (for example, three) through holes27penetrating the stage ST (lower electrode LE) are formed at a position outside the electrostatic chuck ESC in a plan view. The lift pin27ais inserted into each of these through holes27. InFIG.3, one through hole27into which one lift pin27ais inserted is drawn. The lift pin27ais provided to be vertically movable in the through hole27. When the lift pin27arises, the focus ring FR supported on the second plate18brises.

In addition, a gas supply line28is provided in the plasma processing device10. The gas supply line28supplies heat transfer gas from a heat transfer gas supply mechanism such as He gas to a place between the upper surface of the electrostatic chuck ESC and the back surface of the workpiece W.

In addition, the plasma processing device10includes an upper electrode30. The upper electrode30is arranged above the stage ST and facing the stage ST. The upper electrode30is supported on the upper portion of the chamber12via an insulating shielding member32. The upper electrode30can include a top plate34and a support36. The top plate34faces the chamber S. The top plate34is provided with a plurality of gas discharge holes34a. The top plate34can be formed of silicon or quartz. Alternatively, the top plate34may be configured by forming a plasma resistant film such as yttrium oxide on the surface of the aluminum base material.

The support36detachably supports the top plate34. The support36may be formed of a conductive material such as aluminum. The support36can have a water-cooled structure. A gas diffusion chamber36ais provided inside the support36. A plurality of gas flow holes36bcommunicating with the gas discharge hole34ais extended downward from this gas diffusion chamber36a. In addition, a gas introduction port36cfor guiding the processing gas into the gas diffusion chamber36ais formed in the support36. A gas supply pipe38is connected to the gas introduction port36c.

A gas source group40is connected to the gas supply pipe38via a valve group42and a flow rate controller group44. The gas source group40includes a plurality of gas sources for a plurality of types of gases. The valve group42includes a plurality of valves and the flow rate controller group44includes a plurality of flow rate controllers such as mass flow controllers. The plurality of gas sources of the gas source group40are connected to the gas supply pipe38via the corresponding valve of the valve group42and the corresponding flow rate controller of the flow rate controller group44, respectively.

In addition, in the plasma processing device10, a depot shield46is detachably provided along the inner wall of the chamber12. The depot shield46is also provided on the outer circumference of the support portion14. The depot shield46prevents etching by-products (depots) from adhering to the chamber12. The depot shield46can be configured by coating an aluminum material with ceramics such as yttrium oxide.

An exhaust plate48is provided on the bottom portion side of the chamber12, and between the support portion14and the side wall of the chamber12. The exhaust plate48can be configured, for example, by coating an aluminum material with ceramics such as yttrium oxide. In the exhaust plate48, a plurality of holes penetrating in the thickness direction of the exhaust plate48are formed. An exhaust port12eis provided below the exhaust plate48and on the chamber12. An exhaust device50is connected to the exhaust port12evia an exhaust pipe52. The exhaust device50includes a vacuum pump such as a pressure regulating valve and a turbo molecular pump. The exhaust device50can reduce the pressure of the space in the chamber12to a desired degree of vacuum. In addition, the side wall of the chamber12is provided with a carry-inlet/outlet12gfor the workpiece W. The carry-inlet/outlet12gcan be opened and closed by a gate valve54.

In addition, the plasma processing device10further includes a first high frequency power supply62and a second high frequency power supply64. The first high frequency power supply62is a power supply that generates a first high frequency for the plasma generation. The first high frequency power supply62generates, for example, a high frequency having a frequency of 27 to 100 MHz. The first high frequency power supply62is connected to the upper electrode30via a matcher66. The matcher66includes a circuit for matching an output impedance of the first high frequency power supply62with an input impedance of the load side (upper electrode30side). The first high frequency power supply62may be connected to the lower electrode LE via the matcher66.

The second high frequency power supply64is a power supply that generates a second high frequency for drawing ions into the workpiece W. The second high frequency power supply64generates, for example, a high frequency with a frequency in the range of 400 kHz to 13.56 MHz. The second high frequency power supply64is connected to the lower electrode LE via a matcher68. The matcher68includes a circuit for matching an output impedance of the second high frequency power supply64with an input impedance of the load side (lower electrode LE side).

In the plasma processing device10, gas from one or more gas sources selected from the plurality of gas sources is supplied to the chamber S. In addition, the pressure in the chamber S is set to a predetermined pressure by the exhaust device50. Further, the gas in the chamber S is excited by the first high frequency from the first high frequency power supply62. As a result, the plasma is generated. Then, workpiece W is processed by the generated active species. If necessary, ions may be drawn into the workpiece W by a bias based on the second high frequency from the second high frequency power supply64.

The chamber12is provided with a window12wthat transmits light. The window12wmay have, for example, a honeycomb-shaped double-glazed window structure. In this case, the plasma and radicals are suppressed from entering the window12w, and the amount of reaction products adhering to the window12wis reduced. An emission spectroscopic analyzer72is connected to the window12wvia a converging portion and an optical fiber71. The emission spectroscopic analyzer72analyzes an emission intensity of the plasma generated in the chamber S. The emission spectroscopic analyzer72receives the light from the plasma through the window12w. The emission spectroscopic analyzer72can operate in a maintenance mode in addition to the operation in a normal mode for analyzing the emission intensity of the plasma. In the maintenance mode, a spectroscope mounted on the emission spectroscopic analyzer72is calibrated with reference to a predetermined light source.

Next, the execution device will be described.

FIG.4is a cross-sectional schematic view illustrating an example of the execution device100according to the embodiment.FIG.5is a block diagram illustrating the execution device. InFIG.5, a dedicated FOUP4F that is used when using the execution device100is also schematically illustrated. The execution device100includes a base110, a control board120, and a battery140. The execution device100is transported by the transport device of the processing system1having a function as the semiconductor manufacturing apparatus S1, and executes the light emission from a plurality of light sources130(operation devices) as a predetermined operation.

The base110is a substrate using a disk-shaped wafer as an example. However, the base110is not limited to a disk shape, and is not limited to any shapes such as a polygon or an ellipse as long as it can be transported by the transport device that transports the substrate. A notch110N is formed on the edge of the base110. Examples of the material of the substrate include silicon, carbon fiber, quartz glass, silicon carbide, silicon nitride, alumina, and the like.

The control board120is a circuit board provided on the base110. The control board120includes light sources130ato130d(collectively referred to as a “light source130”), temperature sensors150ato150d(collectively referred to as a “temperature sensor150”), a connector pad160, a control circuit170, and an acceleration sensor180. The light sources130ato130dare arranged on the control board120on the base110. The light source130a, the light source130b, the light source130c, and the light source130demit light having wavelengths different from each other (that is, different colors). In the illustrated example, three light sources for each of the different wavelengths are arranged side by side along the outermost circumference of the base110. However, the number of light sources130for each wavelength is not limited to three, and may be equal to or less than two or may be equal to or more than four. In addition, the arrangement position of the plurality of light sources130ato130dis not particularly limited as long as they are on the control board120. The light source130may be a light emitting diode (LED) or an organic light emitting diode (OLED). The light source130is a reference light source in the maintenance mode of the emission spectroscopic analyzer72. That is, the emission spectroscopic analyzer72operated in the maintenance mode is calibrated while the light source130emits the light in the process module PM.

The temperature sensors150ato150dare arranged in the vicinity of each light source so as to be one-to-one with respect to the light sources130ato130d. The temperature sensor150ameasures an ambient temperature of the light source130a. The temperature sensor150bmeasures an ambient temperature of the light source130b. The temperature sensor150cmeasures an ambient temperature of the light source130c. The temperature sensor150dmeasures an ambient temperature of the light source130d.

The connector pad160is a connection portion for charging the battery. The connector pad160can be connected to an external power supply. The connector pad160is connected to the external power supply via the connector4FC provided in the dedicated FOUP4F in a state of being placed in the dedicated FOUP4F. Four batteries140are arranged on the base110. The battery140supplies the electric power to the light sources130ato130dand the control circuit170. The number of batteries140is not limited to four as long as it can withstand the maximum current values of the light sources130ato130d. As illustrated inFIG.5, a charging circuit177is connected between the connector pad160and the battery140. The charging of the battery140is controlled by the charging circuit177. In addition, a power supply circuit178is connected to the battery140. The electric power from the battery140is supplied to each device via the power supply circuit178.

The control circuit170is arranged on the control board120. The control circuit170includes an arithmetic unit171including a processor, a memory172, a controller173, a current/voltmeter174, and the like, and comprehensively controls the operation of the execution device100based on the program stored in the memory172. The control circuit170functions as a controller that controls each portion of the execution device100. For example, turning on and off the lighting of each of the light source130is controlled by the controller173in a state in which the power input to the light source130is measured by the current/voltmeter174. In addition, a communication device175is connected to the control circuit170in order to control the communication with other external devices. In one example, information including a transport recipe described later can be input to the execution device100from an external computer88or the like via the communication device175. Any of the wired or wireless method may be used as a method of connection between the communication device175and the computer88. In addition, in one example, the execution device100includes a connector pad176connected to the control circuit170. The connector pad176is connected to the switch SW provided on the dedicated FOUP4F. The control circuit170may start controlling the execution device100based on the signal input from the switch SW.

The acceleration sensor180detects the transport operation of the execution device100in the processing system1by detecting the acceleration applied to the execution device100. As illustrated inFIG.5, the acceleration sensor180is configured to include at least a first acceleration sensor180X and a second acceleration sensor180Y.

FIG.6is a schematic view for explaining the acceleration sensor180of the execution device100. InFIG.6, a schematic plan view of the execution device100viewed from above is illustrated. The Y-axis inFIG.6passes through the center of the execution device100and the notch110N. The X-axis is orthogonal to the Y-axis and passes through the center of the execution device100. The X-axis and the Y-axis may be axes that are orthogonal (intersect) to each other along a plane along the control board120.

The first acceleration sensor180X is configured to detect the acceleration in the X-axis direction, and the second acceleration sensor180Y is configured to detect the acceleration in the Y-axis direction. Therefore, when the execution device100is in a horizontal state, the acceleration in a first direction along the horizontal direction can be detected by the first acceleration sensor180X. In addition, the acceleration in a second direction intersecting the first direction along the horizontal direction can be detected by the second acceleration sensor180Y.

In one example, when the acceleration applied in the positive direction of the X-axis is detected, the first acceleration sensor180X outputs a positive detection value according to the magnitude of acceleration, and when the acceleration applied in the negative direction of the X-axis is detected, outputs a negative detection value according to the magnitude of acceleration. In addition, when the acceleration applied in the positive direction of the Y-axis is detected, the second acceleration sensor180Y outputs a positive detection value according to the magnitude of the acceleration, and when the acceleration applied in the negative direction of the Y-axis is detected, outputs a negative detection value according to the magnitude of acceleration.

In an example of the execution device100, each of the detection values from the first acceleration sensor180X and the second acceleration sensor180Y is input to the arithmetic unit171. The arithmetic unit171sums the detection value of the first acceleration sensor180X and the detection value of the second acceleration sensor180Y, and derives a total value. The arithmetic unit171counts the transport operations in the processing system1based on the total value.

When the execution device100is transported in the directions D1and D2along the X-axis illustrated inFIG.6, the acceleration is substantially not detected by the second acceleration sensor180Y. Therefore, the arithmetic unit171may set the detection value by only the first acceleration sensor180X as the total value. Similarly, when the execution device100is transported in the directions D3and D4along the Y-axis illustrated inFIG.6, the arithmetic unit171may set the detection value by only the second acceleration sensor180Y as the total value. In addition, when the execution device is transported in the direction D5which is the positive direction along both the X-axis and the Y-axis and the execution device is transported in the direction D6which is the negative direction along both the X-axis and the Y-axis, the value obtained by adding the detection values may be used as the total value.

The direction D7is the positive direction along the X-axis and the negative direction along the Y-axis. The direction D8is the negative direction along the X-axis and the positive direction along the Y-axis. When the execution device100is transported in the direction D7and the direction D8, the sign of the detection value by the first acceleration sensor180X and the sign of the detection value by the second acceleration sensor180Y are opposite to each other. Therefore, the value obtained by subtracting the detection value by the second acceleration sensor180Y from the detection value by the first acceleration sensor180X may be used as the total value. Since there is no problem as long as the detection value by the first acceleration sensor180X and the detection value by the second acceleration sensor180Y are not canceled by the summation, the value obtained by subtracting the detection value of the first acceleration sensor180X from the detection value of the second acceleration sensor180Y may be used as the total value.

As an example, when one of the two detection values input to the arithmetic unit171is substantially zero, the arithmetic unit171may determine that the execution device100is transported in the directions D1, D2, D3, and D4to calculate the total value. In addition, when the signs of the two detection values input to the arithmetic unit171are the same, the arithmetic unit171may determine that the execution device100is transported in the directions D5and D6to calculate the total value. In addition, when the signs of the two detection values input to the arithmetic unit171are different from each other, the arithmetic unit171may determine that the execution device100is transported in the directions D7and D8to calculate the total value.

In the processing system1, the execution device100is transported by the transport devices TU1and TU2. For example, if the stopped execution device100is transported to a certain position by the transport device and then stopped, an acceleration is applied to the execution device100in the direction opposite to the transport direction at the start of the transport, and an acceleration is applied in the transport direction when the transport is stopped. Therefore, when the total value of the detection value by the first acceleration sensor180X and the detection value of the second acceleration sensor180Y exceeds a positive first threshold value and then falls below a negative second threshold value within a certain period of time, an example of the execution device100determines that one transport operation is executed. Furthermore, when the total value exceeds the positive second threshold value within a certain period of time after falling below the negative first threshold value, the execution device100determines that one transport operation is executed.

FIG.7is an example of a graph for explaining the acceleration applied to the execution device. InFIG.7, the detection value by the first acceleration sensor180X is illustrated as an “X direction”, and the detection value by the second acceleration sensor180Y is illustrated as a “Y direction”. The total value of the detection value by the first acceleration sensor180X and the detection value by the second acceleration sensor180Y is illustrated as a “total value”. InFIG.7, since the signs of the detection values in the X and Y directions are different from each other, the total value is a value obtained by subtracting the detection value in the Y direction from the detection value in the X direction. A “moving average” in the graph indicates a moving average of the total values. InFIG.7, the acceleration when two transport operations are executed at a time interval. In this example, the detection value is disturbed because a rotation operation is added to the execution device100during the two transport operations. In order not to erroneously detect such disturbance of detection value, the presence or absence of the transport operation may be determined based on the moving average.

In the example ofFIG.7, the total value (here, the moving average) of the detection value by the first acceleration sensor180X and the detection value by the second acceleration sensor180Y exceeds the positive first threshold value TH1and then falls below the negative second threshold value TH2within a certain period of time TS. Therefore, the arithmetic unit171determines that the transport operation is executed. In addition, after that, since the total value falls below the negative threshold value TH2and then exceeds the positive threshold value TH1within a certain period of time, the arithmetic unit171determines that the second transport operation is executed.

FIG.8is a diagram illustrating an example of a transport route of the execution device transported in the processing system. When the execution device100is transported in an example of the processing system1, the execution device100is transported to the target position by a plurality of transport operations. For example, a case where the execution device100is transported to the process module PM1is considered. The execution device100is transported by a process including the transport operations T1to T6. The transport operation T1is an operation for taking out the workpiece from the container4a(dedicated FOUP4F). The transport operation T2is an operation for transporting the workpiece from the take-out position from the container4ato the aligner AN. The transport operation T3is an operation for taking out the workpiece from the aligner AN. The transport operation T4is an operation for transporting the workpiece from the take-out position from the aligner AN to the load lock module LL. The transport operation T5is an operation for transporting the workpiece from the load lock module LL1to the transfer module TF. The transport operation T6is an operation for transporting the workpiece from the transfer module TF to the process module PML. In these transport operations T1to T6, sometimes the state of acceleration applied to the execution device100may be different from each other. Therefore, in an example of the execution device100, the transport operation is determined based on the transport recipe.

FIG.9is an example of a transport recipe used in an example of the execution device. A transport recipe R can indicate the relationship between information on the acceleration added to the execution device100transported to the transport device and information on the transport position. In the transport recipe R illustrated inFIG.9, a required time, a maximum acceleration, a minimum acceleration, and the operation are associated with each other for each transport operation executed in order. The maximum acceleration corresponds to the positive threshold value TH1for the total value (here, the moving average) of the detection value by the first acceleration sensor180X and the detection value by the second acceleration sensor180Y. The minimum acceleration corresponds to the negative threshold value TH2for the total value. The required time is a time elapsed from the detection of the maximum value of the total value to the detection of the minimum value, or a time elapsed from the detection of the minimum value of the total value to the detection of the maximum value. That is, the required time corresponds to a time required from the start to the end of the transport, and is corresponding to a certain period of time TS. The required time, the maximum acceleration, and the minimum acceleration may be arbitrarily determined for each operation.

In the example inFIG.9, a first to sixth operations correspond to the transport operation T1to the transport operation T6, respectively. Therefore, for example, at a time point when it is determined by the arithmetic unit171that the second operation I executed, it can be recognized that the execution device100is positioned at the aligner AN. In addition, when it is determined that the first to sixth operations are completed, it can be recognized that the execution device100is placed in the process module PM1.

The arithmetic unit171causes the operation device to execute a predetermined operation when it is recognized that the execution device100is transported to a predetermined position. In an example, the arithmetic unit171may cause the light source130to emit the light when it is recognized that the execution device100is placed in the process module PM1.

Next, the operation of the execution device100will be described.FIG.10is a flowchart illustrating an example of an operation method of the execution device. When operating the execution device100as an example, first, the execution device100placed on the dedicated FOUP4F is activated. As described above, since the dedicated FOUP4F is provided with a switch SW for activating the execution device100, the switch SW enables the execution device100to be activated. When the execution device100is activated, the signal from the acceleration sensor is acquired by the arithmetic unit171by the acceleration sensor180operates (step ST1). When calibrating the emission spectroscopic analyzer72using the execution device100, the execution device100is started by the switch SW. At this time, the controller MC controls the processing system1such that the transport devices TU1and TU2transport the execution device100from the FOUP4F to the process module PM. In addition, the controller MC controls the emission spectroscopic analyzer72to operate in maintenance mode.

The arithmetic unit171derives the total value of acceleration based on the acquired detection value, and recognizes the transport position of the execution device100by analyzing the derived total value with reference to the transport recipe R (step ST2). The recognition of the transport position has the same meaning as a determination that the operation is completed up to which position in the transport recipe R.

When it is recognized that execution device100is transported to a predetermined position, the arithmetic unit171causes the operation device to execute a predetermined operation (step ST3). In one example, when it is recognized that the execution device100is transported to the process module PM1, the arithmetic unit171controls the controller173such that the light source130emits the light. When the emission spectroscopic analyzer72is waiting in the maintenance mode by the controller MC, the emission spectroscopic analyzer72is calibrated when the light source130emits the light. When a predetermined time elapsed since the light source130emits the light, the arithmetic unit171may determine that the calibration of the emission spectroscopic analyzer72is completed, and may stop the light source130from emitting the light. Depending on the calibration program of the emission spectroscopic analyzer72, the execution device100may be transported between the process module PM and the aligner AN multiple times. The arithmetic unit171may cause the light source130to emit the light each time it is determined that the execution device100is transported to the process module PM1. In this case, the transport recipe may include a recipe corresponding to the transport operation between the process module PM and the aligner AN in addition to the operation of transportation from the FOUP4F to the process module PM. Furthermore, the transport recipe may include a light emission control procedure by the light source130as a recipe for the predetermined operation in addition to the transport operation recipe. In this case, the arithmetic unit171can control the light source130with reference to the transport recipe. When the calibration of the emission spectroscopic analyzer72is completed, the execution device100is transported to the FOUP4F by the transport devices TU1and TU2.

In the process module PM, the execution device100cannot be controlled wirelessly. However, when calibrating the emission spectroscopic analyzer72using the light source130, it is not always preferable in terms of operation to make the light source130emit light even during the transport operation. In the execution device100described above, the horizontal acceleration applied to the execution device100is detected by the first acceleration sensor180X and the second acceleration sensor180Y provided in the execution device100. Therefore, the transport position of the execution device100can be recognized by specifying the transport state of the execution device100based on the output values from the first acceleration sensor180X and the second acceleration sensor180Y. That is, the execution device100functions as a position determination device that determines the transport position during the transportation. When it is recognized that the execution device100is transported to a predetermined position, by controlling the operation device (the light source130in an example) to execute a predetermined operation, the predetermined operation can be automatically executed at a desired position.

In an exemplary embodiment, the arithmetic unit171(the control device) stores a transport recipe (recipe information) R indicating the relationship between the information on the acceleration added to the execution device100transported to the transport device and the information on the transport position. The arithmetic unit171can recognize the transport position from the acceleration derived based on the output values from the first acceleration sensor180X and the second acceleration sensor180Y with reference to the transport recipe R. Since the arithmetic unit171stores the transport recipe R in advance, it is possible to accurately recognize the transport position even when a complicated transport operation is executed.

In an exemplary embodiment, the operation device may include a plurality of light sources130that emit the light having wavelengths different from each other, and the predetermined operation may be the light emission from the plurality of light sources130. In this calibration, the calibration work of the emission spectroscopic analyzer72in the processing system1can be accurately performed.

Although various exemplary embodiments are described above, without being limited to the exemplary embodiments described above, various omissions, substitutions, and changes may be made.

For example, the execution device100may further include a third acceleration sensor that detects acceleration in the Z-axis direction orthogonal to both the X-axis and the Y-axis.

The light source130emits the light when the execution device100is transported to the process module PM, but the present invention is not limited thereto. The position where the execution device100is transported and the content of the control executed at the position may be arbitrarily determined. For example, the position where the predetermined operation is executed may be the loader module LM, the aligner AN, the load lock modules LL1and LL2, the transfer module TF, or the like. In addition, the execution device may include a measuring instrument for measuring the electrostatic capacitance between the execution device and the object, an imaging device for imaging the surroundings of the execution device, as the operation devices that execute predetermined operations.

From the foregoing description, it will be appreciated that various embodiments of the present disclosure have been described herein for purposes of illustration, and that various modifications may be made without departing from the scope and spirit of the present disclosure. Accordingly, the various embodiments disclosed herein are not intended to be limiting, with the true scope and spirit being indicated by the following claims.