Patent ID: 6845287

Claim:
A method of controlling the movement of a component of a servo-driven photolithography tool, comprising: (a) receiving initial control data regarding required start and end points, distances, and velocities of scans; (b) planning an infinite jerk, multi-axis trajectory of the component on the basis of the initial control data; (c) performing, in real time, a profile execution on the basis of the planned trajectory, wherein the trajectory is shaped using digital filtering; and (d) outputting, to a control system, execution data that comprises positions and accelerations of the component, wherein said step (b) comprises (i) calculating a preliminary motion trajectory for each axis; (ii) adiusting zero velocity time intervals in the preliminary motion trajectories, if necessary, to synchronize motion across axes; and (iii) inserting delays at the start of the preliminary motion trajectory for each axis to compensate for filter delays.