Patent ID: 8688276

Claim:
A teaching method for a transfer robot, in which teaching to the transfer robot is made of transfer actions of the transfer robot adapted to perform turning and telescopic actions on a same plane in a state of supporting a to-be-processed substrate which is processed among a plurality of processing chambers, the method comprising: detecting at least one index part provided in advance on an operating part of the transfer robot at a detection position, the detection being made, while subjecting the transfer robot to transfer actions, by using at least one detector disposed so as to detect the substrate at a time of transferring the substrate among the processing chambers; teaching, from this detection position of the index part, a reference position which serves as an origin of at least one of the turning action and the telescopic action; and detecting at least another index part, in addition to the at least one index part, by the detector prior to the teaching of the origin, and correcting a deviation in the direction of the telescopic action or the turning action.