Automatic teaching of substrate handling for production and process-control tools

A method, comprising:

• loading a teaching substrate into a load port of an equipment front-end module of a fabrication or inspection tool, wherein:
• the equipment front-end module comprises a substrate-handling robot comprising an end-effector to carry substrates,
• the teaching substrate comprises a plurality of sensors and one or more wireless transceivers, the plurality of sensors comprising a first camera to image regions outward to a side of the teaching substrate and a second camera to image regions below the teaching substrate,
• the tool comprises a plurality of stations, and
• the plurality of stations comprises a chuck in a chamber of the tool distinct from the equipment front-end module, the chamber being separated from the equipment front-end module by a hatch;
• with the teaching substrate in the equipment front-end module, moving the substrate-handling robot along an initial route, comprising, with the teaching substrate on the end-effector, positioning the teaching substrate in front of the hatch with the hatch in the field of view of the first camera;
• with the teaching substrate in the equipment front-end module, wirelessly receiving sensor data from the teaching substrate, the sensor data comprising an image of the hatch, taken by the first camera with the teaching substrate positioned in front of the hatch, and an image taken with the second camera;
• based at least in part on the sensor data, determining a modified route distinct from the initial route;
• moving the substrate-handling robot along the modified route, comprising handling the teaching substrate with the substrate-handling robot;
• and
• based at least in part on the sensor data, determining positions of the plurality of stations.