Patent ID: 7679719

Claim:
A lithographic apparatus, comprising: a substrate support configured to hold a substrate; a projection system configured to project a patterned radiation beam onto a target portion of the substrate; and a drive system configured to move the substrate support along a trajectory relative to the projection system, the drive system comprising a first drive motor configured to move the substrate support in a first direction; a second drive motor configured to move the substrate support in a second direction; a first trajectory planner configured to generate set-point data, including set-point coordinates, for the first drive motor to move the substrate in the first direction; a second trajectory planner configured to generate set-point data, including set-point coordinates, for the second drive motor to move the substrate in the second direction; a first coordinate transformer configured to transform the set-point coordinates of the first direction and the second direction determined by the first and second trajectory planner, respectively, into set-point coordinates of a third direction and a fourth direction; a first set-point generator configured to generate motion data, including motion coordinates, for moving the substrate in the third direction, limiting the velocity in the third direction to a first maximum velocity; a second set-point generator configured to generate motion data, including motion coordinates, for moving the substrate in the fourth direction, limiting the velocity in the fourth direction to a second maximum velocity; and a second coordinate transformer configured to transform the motion coordinates of the third direction and the fourth direction determined by the first set-point generator and the second set-point generator, respectively, into motion coordinates of the first direction and the second direction, respectively, for driving the first and second drive motors, respectively.