Substrate holding device, lithography apparatus using same, and device manufacturing method

A substrate transport apparatus for moving a substrate, comprising:

• a transport hand that holds the substrate using an adsorption by a negative pressure;
• a sensor that measures pressure in a negative pressure space during the adsorption;
• a control section that controls a movement of the transport hand based on an output of the sensor,
• wherein the control section controls the movement of the transport hand based on a first speed information when the output of the sensor exceeds a first threshold value indicating a predetermined pressure, controls the movement of the transport hand based on a second speed information of a speed that is lower than that of the first speed information when the output of the sensor has not reached the first threshold value, and provides an error notification when the output of the sensor has not reached a second threshold value indicating a pressure that is higher than the predetermined pressure.

A stage apparatus for moving a substrate, comprising:

• a chuck that holds the substrate using an adsorption by a negative pressure;
• a plurality of sensors that measure pressure in a negative pressure space during the adsorption;
• a control section that controls a movement of the chuck based on the outputs of the plurality of sensors,
• wherein the control section controls the movement of the chuck based on a first speed information when all outputs of the plurality of sensors exceed a first threshold value indicating a predetermined pressure, controls the movement of the chuck based on a second speed information of a speed that is lower than that of the first speed information when any one of the outputs of the plurality of sensors have not reached the first threshold value, and provides an error notification when the outputs of the plurality of sensors indicate a pressure distribution having a range that is narrower than that of a predetermined pressure distribution.

A substrate transport apparatus for moving a substrate, comprising:

• a transport hand that holds the substrate using an adsorption by a negative pressure;
• a plurality of sensors that measure pressure in a negative pressure space during the adsorption;
• a control section that controls a movement of the chuck based on the outputs of the plurality of sensors,
• wherein the control section controls the movement of the transport hand based on a first speed information when all outputs of the plurality of sensors exceed a first threshold value indicating a predetermined pressure, controls the movement of the transport hand based on a second speed information of a speed that is lower than that of the first speed information when any one of the outputs of the plurality of sensors have not reached the first threshold value, and provides an error notification when the outputs of the plurality of sensors indicate a pressure distribution having a range that is narrower than that of a predetermined pressure distribution.

A stage apparatus for moving a substrate, comprising:

• a chuck that holds the substrate using an adsorption by a negative pressure;
• a sensor that measures pressure in a negative pressure space during the adsorption;
• a control section that controls a movement of the chuck based on an output of the sensor,
• wherein the control section controls the movement of the chuck based on a first speed information when a time required for the output of the sensor to exceed a threshold value that indicates a predetermined pressure does not reach a first time, controls the movement of the chuck based on a second speed information of a speed that is lower than that of the first speed information when the required time exceeds the first time, and provides an error notification when the required time exceeds a second time that is longer than the first time.

A substrate transport apparatus for moving a substrate, comprising:

• a transport hand that holds the substrate using an adsorption by a negative pressure;
• a sensor that measure pressure in a negative pressure space during the adsorption;
• a control section that controls a movement of the chuck based on the outputs of the sensor,
• wherein the control section controls the movement of the transport hand based on a first speed information when a time required for the output of the sensor to exceed a threshold value that indicates a predetermined pressure does not reach a first time, controls the movement of the transport hand based on a second speed information of a speed that is lower than that of the first speed information when the required time exceeds the first time, and provides an error notification when the required time exceeds a second time that is longer than the first time.

A lithography apparatus for transferring a pattern onto a substrate, comprising:

• a chuck that holds the substrate using an adsorption by a negative pressure;
• a sensor that measures pressure in a negative pressure space during the adsorption;
• a control section that controls a movement of the chuck based on an output of the sensor,
• wherein the control section controls the movement of the chuck based on a first speed information when the output of the sensor exceeds a first threshold value indicating a predetermined pressure, controls the movement of the chuck based on a second speed information of a speed that is lower than that of the first speed information when the output of the sensor has not reached the first threshold value, and provides an error notification when the output of the sensor has not reached a second threshold value indicating a pressure that is higher than the predetermined pressure.

A lithography apparatus for transferring a pattern onto a substrate, comprising:

• a transport hand that holds the substrate using an adsorption by a negative pressure;
• a sensor that measures pressure in a negative pressure space during the adsorption;
• a control section that controls a movement of the chuck based on an output of the sensor,
• wherein the control section controls the movement of the transport hand based on a first speed information when the output of the sensor exceeds a first threshold value indicating a predetermined pressure, controls the movement of the transport hand based on a second speed information of a speed that is lower than that of the first speed information when the output of the sensor not reached the first threshold value, and provides an error notification when the output of the sensor not reached a second threshold value indicating a pressure that is higher than the predetermined pressure.

A lithography apparatus for transferring a pattern onto a substrate, comprising:

• a chuck that holds the substrate using an adsorption by a negative pressure;
• a plurality of sensors that measure pressure in a negative pressure space during the adsorption;
• a control section that controls a movement of the chuck based on the outputs of the plurality of sensors,
• wherein the control section controls the movement of the chuck based on a first speed information when all outputs of the plurality of sensors exceed a first threshold value indicating a predetermined pressure, controls the movement of the chuck based on a second speed information of a speed that is lower than that of the first speed information when any one of the outputs of the plurality of sensors have not reached the first threshold value, and provides an error notification when the outputs of the plurality of sensors indicate a pressure distribution having a range that is narrower than that of a predetermined pressure distribution.

A lithography apparatus for transferring a pattern onto a substrate, comprising:

• a transport hand that holds the substrate using an adsorption by a negative pressure;
• a plurality of sensors that measure pressure in a negative pressure space during the adsorption;
• a control section that controls a movement of the chuck based on the outputs of the plurality of sensors,
• wherein the control section controls the movement of the transport hand based on a first speed information when all outputs of the plurality of sensors exceed a first threshold value indicating a predetermined pressure, controls the movement of the transport hand based on a second speed information of a speed that is lower than that of the first speed information when any one of the outputs of the plurality of sensors have not reached the first threshold value, and provides an error notification when the outputs of the plurality of sensors indicate a pressure distribution having a range that is narrower than that of a predetermined pressure distribution.

A lithography apparatus for transferring a pattern onto a substrate, comprising:

• a chuck that holds the substrate using an adsorption by a negative pressure;
• a sensor that measures pressure in a negative pressure space during the adsorption;
• a control section that controls a movement of the chuck based on an output of the sensor,
• wherein the control section controls the movement of the chuck based on a first speed information when a time required for the output of the sensor to exceed a threshold value that indicates a predetermined pressure does not reach a first time, controls the movement of the chuck based on a second speed information of a speed that is lower than that of the first speed information when the required time exceeds the first time, and provides an error notification when the required time exceeds a second time that is longer than the first time.

A lithography apparatus for transferring a pattern onto a substrate, comprising:

• a transport hand that holds the substrate using an adsorption by a negative pressure;
• a plurality of sensors that measure pressure in a negative pressure space during the adsorption;
• a control section that controls a movement of the transport hand based on the outputs of the plurality of sensors,
• wherein the control section controls the movement of the transport hand based on a first speed information when a time required for the output of the sensor to exceed a threshold value that indicates a predetermined pressure does not reach a first time, controls the movement of the transport hand based on a second speed information of a speed that is lower than that of the first speed information when the required time exceeds the first time, and provides an error notification when the required time exceeds a second time that is longer than the first time.