Patent ID: 7706919

Claim:
A wafer position teaching method for teaching a position of a semiconductor wafer in a container or a processing apparatus to a robot for transporting the semiconductor wafer between the container and the processing apparatus or between processing apparatuses by moving a hand holding the semiconductor wafer in at least three directions of R, θ and Z, the method comprising the steps of: placing a first teaching jig at a position to which the semiconductor wafer in the container or the processing apparatus is placed, wherein the teaching jig comprises a large disc portion and a small disc portion connected to each other with the small disc portion overlapping the large disc portion and the large disc portion having a diameter same as a diameter of the semiconductor wafer; detecting a height of the small disc portion by a first transmission-type sensor provided at tips of the hand by moving the hand in the Z-direction, detecting the small disc portion by the first transmission-type sensor by moving the hand in the R-direction from plural values of θ; and calculating a position of the small disc portion on the basis of the detection.