WO1999017356A1 - Semiconductor processing apparatus having linear conveyor system - Google Patents
Semiconductor processing apparatus having linear conveyor system Download PDFInfo
- Publication number
- WO1999017356A1 WO1999017356A1 PCT/US1998/000132 US9800132W WO9917356A1 WO 1999017356 A1 WO1999017356 A1 WO 1999017356A1 US 9800132 W US9800132 W US 9800132W WO 9917356 A1 WO9917356 A1 WO 9917356A1
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- WO
- WIPO (PCT)
- Prior art keywords
- wafer
- transfer
- semiconductor
- transport
- guide rail
- Prior art date
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Classifications
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67242—Apparatus for monitoring, sorting or marking
- H01L21/67259—Position monitoring, e.g. misposition detection or presence detection
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67739—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations into and out of processing chamber
- H01L21/67742—Mechanical parts of transfer devices
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67763—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations the wafers being stored in a carrier, involving loading and unloading
- H01L21/67769—Storage means
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67763—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations the wafers being stored in a carrier, involving loading and unloading
- H01L21/67778—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations the wafers being stored in a carrier, involving loading and unloading involving loading and unloading of wafers
- H01L21/67781—Batch transfer of wafers
Definitions
- interconnect metallization which electrically connects the various devices on the integrated circuit to one another.
- aluminum has been used for such interconnects, however, it is now recognized that copper metallization may be preferable.
- the industry has sought to overcome the problem of forming patterned layers of copper by using a damascene electroplating process where holes, more commonly called vias, trenches and other recesses are used in which the pattern of copper is desired.
- the wafer is first provided with a metallic seed layer which is used to conduct electrical current during a subsequent metal electroplating step.
- the seed layer is a very thin layer of metal which can be applied using one or more of several processes. For example, the seed layer of metal can be laid down using physical vapor deposition or chemical vapor deposition processes to produce a layer on the order of 1000 angstroms thick.
- the seed layer can advantageously be formed of copper, gold, nickel, palladium, and most or all other metals.
- the seed layer is formed over a surface which is convoluted by the presence of the vias, trenches, or other device features which are recessed. This convoluted nature of the exposed surface provides increased difficulties in forming the seed layer in a uniform manner. Nonuniformities in the seed layer can result in variations in the electrical current passing from the exposed surface of the wafer during the subsequent electroplating process. This in turn can lead to nonuniformities in the copper layer which is subsequently electroplated onto the seed layer. Such nonuniformities can cause deformities and failures in the resulting semiconductor device being formed.
- the copper layer that is electroplated onto the seed layer is in the form of a blanket layer.
- the blanket layer is plated to an extent which forms an overlying layer, with the goal of completely providing a copper layer that fills the trenches and vias and extends a certain amount above these features.
- Such a blanket layer will typically be formed in thicknesses on the order of 10,000-15,000 angstroms (1-1.5 microns).
- the damascene processes also involve the removal of excess metal material present outside of the vias, trenches or other recesses.
- the metal is removed to provide a resulting patterned metal layer in the semiconductor integrated circuit being formed.
- the excess plated material can be removed, for example, using chemical mechanical planarization.
- Chemical mechanical planarization is a processing step which uses the combined action of a chemical removal agent and an abrasive which grind and polish the exposed metal surface to remove undesired parts of the metal layer applied in the electroplating step.
- a transport system for manipulating a semiconductor wafer in a processing tool is
- the system includes a transport unit guide disposed within the processing tool for
- the transport unit guide comprises a frame, a lateral guide rail mounted on the
- the wafer transfer unit includes a tram translatably attached to the
- An electromagnet is mounted on the tram in cooperative relation with the magnetic
- Actuators are used for
- a controller for determining the position of the transfer unit and the transfer arm assembly.
- communication link is a fiber optic link.
- Fig. 1 is an isometric view of the semiconductor wafer processing tool in accordance
- Fig. 2 is a cross-sectional view taken along line 2-2 of the semiconductor wafer
- Figs. 3-8 are a diagrammatic representation of a wafer cassette turnstile and elevator of
- present invention operating to exchange wafer cassettes between a hold position and an
- Fig. 9 is an isometric view of a preferred wafer cassette tray engageable with the
- FIGS. 10-15 illustrate one manner in which the processing tool may be modularized to
- Figs. 16-19 illustrate a wafer conveying system in accordance with one embodiment of
- Figs. 20-25 illustrate a further wafer conveying system in accordance with a further
- Fig. 26 is a functional block diagram of an embodiment of a control system of the
- Fig. 27 is a functional block diagram of a master/slave control configuration of an
- Fig. 28 is a functional block diagram of an interface module control subsystem
- Fig. 29 is a functional block diagram of a wafer conveyor control subsystem coupled
- Fig. 30 is a functional block diagram of a wafer processing module control subsystem
- Fig. 31 is a functional block diagram of a slave processor of the interface module
- control subsystem coupled with components of a wafer interface module of the processing
- Fig. 32 is a functional block diagram of a slave processor of the wafer conveyor
- control subsystem coupled with components of a wafer conveyor of the processing tool.
- Fig. 33 is a cross-sectional view of a processing station for use in electroplating a
- the processing tool 10 may comprise an interface section 12 and
- semiconductor wafers may be loaded into the processing tool 10 or
- the wafer cassettes 16 are
- first port 32 preferably loaded or unloaded through at least one port such as first port 32 within a front
- An additional second port 33 may be
- port 33 may be utilized as an output.
- Respective powered doors 35, 36 may be utilized to cover access ports 32, 33 thereby
- Each door 35, 36 may be
- the upper portions and lower portion move upward and downward
- Wafer cassettes 16 are typically utilized to transport a plurality of semiconductor
- the wafer cassettes 16 are preferably oriented to provide the semiconductor wafers
- the front outwardly facing surface of the processing tool 10 may advantageously join
- wafer cassettes 16 may be introduced into processing tool 10 or removed
- the interface section 12 joins a processing section 14 of the processing tool 10.
- processing section 14 may include a plurality of semiconductor wafer processing modules for
- processing tool 10 shown in Fig. 1 includes a plating module 20 defining a first lateral surface
- the processing section 14 of the tool 10 may advantageously
- modules of the processing tool 10 may be different or of similar nature.
- the processing tool 10 is
- the processing modules of the process tool 10 are preferably modular,
- Additional wafer processing modules may be
- the processing tool 10 of the present invention preferably includes a rear closure
- processing section 14 The interface section 12, lateral sides of the processing section 14,
- closure surface 18, and air supply 26 preferably provide an enclosed work space 11 within the
- the air supply 26 may comprise a duct coupled with a filtered air source
- supply 26 may include a plurality of vents intermediate the processing modules 19 for
- exhaust ducts 58, 59 may be provided adjacent the frame 65 of a
- wafer transport unit guide 66 to remove the circulated clean air and the contaminants therein.
- Exhaust ducts 58, 59 may be coupled with the each of the processing modules 19 for drawing
- clean air is supplied to the workspace 11 of the
- the air may be drawn adjacent the wafer transport units
- Each processing module 19 within the processing tool 10 may be directly coupled
- a user interface 30 may be provided at the outwardly facing front surface of the
- the user interface 30 may advantageously be a touch
- An additional user interface 30 may be any user interface
- processing tool 10 operation can be effected from alternate locations about the
- a portable user interface 30 may be provided to permit an
- the user interface 30 may be utilized to teach specified functions and
- Each module 20, 22, 24 within the processing tool 10 preferably includes a window 34
- each processing module 20, 22 may be advantageously provided within a top surface of each processing module 20, 22,
- Processing module electronics are preferably located adjacent the vents 37 allowing circulating air to dissipate heat generated by such electronics.
- FIG. 2 is shown in detail in detail in Fig. 2.
- the interface section 12 includes two interface modules 38, 39 for manipulating wafer
- the interface modules 38, 39 receive wafer
- cassettes 16 through the access ports 32, 33 and may store the wafer cassettes 16 for
- Each interface module 38, 39 may comprise a wafer cassette turnstile 40, 41 and a
- the wafer cassette elevator 42, 43 The wafer cassette turnstiles 40, 41 generally transpose the
- wafer cassettes 16 from a stable vertical orientation to a horizontal orientation where access to
- Each wafer cassette elevator 42, 43 has a respective
- the second wafer interface module 39 may function as an
- Wafer transport units 62, 64 within the processing tool 10 may access wafer cassettes 16 held by either wafer interface module 38, 39. Such an arrangement
- a semiconductor wafer conveyor 60 is shown intermediate processing modules 20, 22,
- the wafer conveyor 60 includes wafer transport
- Wafer conveyor 60 advantageously includes a transport unit guide 66, such as an
- a wafer transport unit 62 on a first path 68 may pass a wafer
- transport unit 64 positioned on a second path 70 during movement of the transport units 62, 64
- the processing tool 10 may include additional wafer transport units
- the second arm extension 88 may support a semiconductor wafer W
- the appropriate wafer transport unit 62, 64 may approach a wafer
- the first extension 87 and second extension 88 may rotate to approach the wafer
- the second extension 88 is positioned above the wafer support 401 and
- the vacuum is removed from vacuum support 89, and finger assemblies within the processing
- Second extension 88 may be
- a wafer transport unit 62, 64 may retrieve the wafer and either
- cassette 16 for storage or removal from the processing tool 10.
- Each of the wafer transport units 62, 64 may access a wafer cassette 16 adjacent the
- wafer transport unit 62 is shown withdrawing a
- the second extension 88 and vacuum support 89 connected therewith may be
- a vacuum may be applied via vacuum support 89 once support 89
- first extension 87 and second extension 88 may be raised via transfer arm elevator 90. Finally, first extension 87 and second extension 88 may be raised via transfer arm elevator 90. Finally, first extension 87 and second extension 88 may be raised via transfer arm elevator 90. Finally, first extension 87 and second extension 88 may be raised via transfer arm elevator 90. Finally, first extension 87 and second extension 88 may be raised via transfer arm elevator 90. Finally, first extension 87 and second extension 88 may be raised via transfer arm elevator 90. Finally, first extension 87 and second extension 88 may be raised via transfer arm elevator 90. Finally, first extension 87 and second extension 88 may be raised via transfer arm elevator 90. Finally, first extension 87 and second extension 88 may be raised via transfer arm elevator 90. Finally, first extension 87 and second extension 88 may be raised via transfer arm elevator 90. Finally, first extension 87 and second extension 88 may be raised via transfer arm elevator 90. Finally, first extension 87 and second extension 88 may be raised via transfer arm elevator 90. Finally, first extension 87 and second extension 88 may
- transport unit 62, 64 may thereafter deliver the semiconductor wafer W to a wafer processing
- wafer transport unit 62 may travel along path 68 to a position adjacent an
- processing support 401 for processing of the semiconductor wafer INTERFACE MODULE
- wafer interface module 38 is also applicable
- the first wafer interface module 38 and the second wafer interface module are preferably identical.
- both modules can function as both input and
- wafer cassettes 16 holding unprocessed semiconductors wafers may
- Processed semiconductor wafers may be delivered to a wafer cassette 16 for processing.
- Processed semiconductor wafers may be delivered to a wafer cassette 16
- wafer transport units 62, 64 for temporary
- the wafer interface modules 38, 39 may be directly accessed by each of the wafer
- each wafer transport unit 62, 64 facilitates the transport of semiconductor wafers W
- Each wafer interface module 38, 39 preferably includes a wafer cassette turnstile 40
- the access ports 32, 33 are adjacent the respective wafer cassette turnstiles 40, 41. Wafer cassettes 16 may be brought into the
- Wafer cassettes 16 are preferably placed in a vertical position onto cassette trays 50
- Each wafer cassette turnstile 40, 41 preferably includes two saddles 45, 46 each
- cassettes 16 to be placed into the processing tool 10 or removed therefrom during a single
- Each saddle 45, 46 includes two forks engageable with the cassette tray 50. Saddles
- wafers therein are preferably vertically oriented for passage through the access ports 32, 33
- the wafer cassette 16 held by wafer cassette turnstile 40 in Fig. 3, also referred to as
- wafer cassette 15 is in a hold position (also referred to herein as a load position).
- a hold position also referred to herein as a load position.
- semiconductor wafers within a wafer cassette 16 in the hold position may be stored for
- the semiconductor wafers within a wafer cassette 16 in the hold position may be stored for subsequent removal from the processing tool 10 through an
- wafer cassette 17 is in an extraction or exchange position.
- wafers may either be removed from or placed into a wafer cassette 16 positioned in the
- the wafer cassette turnstile 41 and wafer cassette elevator 42 may exchange wafer
- Such an exchange may transfer a wafer cassette 15 having unprocessed
- saddle 46 is positioned below a powered shaft 44 of wafer cassette elevator 42.
- Shaft 44 is coupled with a powered wafer cassette support 47 for holding a wafer cassette 16.
- a motor within shaft 44 rotates wafer cassette support 47 about an
- turnstile 40 are subsequently tilted into a horizontal orientation as shown in Fig. 6.
- wafer cassette turnstile 40 rotates 180 degrees to transpose wafer cassettes 15, 17.
- Wafer cassette 17 having processed semiconductor wafers therein is now accessible via
- Figure 10 illustrates one manner in which the apparatus 10 may be modularized.
- the apparatus 10 is comprised of an input/output assembly 800, left and right
- left and right processing modules 805 and 810 may be
- the wafer conveying system 60 of one apparatus 10 is programmed to cooperate with the
- wafer conveying system 60 of one or more prior or subsequent conveying systems 60 of one or more prior or subsequent conveying systems 60.
- Figure 11 illustrates one manner of arranging processing heads within the apparatus
- the left hand processing module 805 is comprised of three processing heads that are dedicated to rinsing and drying each wafer after electrochemical
- the left hand processing module 805 constitutes a
- Wafer alignment may be based upon sensing of registration
- Figures 12 and 13 illustrate embodiments of the left and right hand processing
- Figure 14 is a perspective view of the input module 800 with its panels removed as
- Figure 15 provides a similar view of the input
- wafer alignment station 850 and a wafer alignment controller 860 are provided in the input
- a robot controller 865 used to control the wafer conveying system 60 is also connected to the wafer conveying system 60.
- the input module 800 is provided with one or more wafer mapping sensors 870 that sense the wafers present in
- the system control computer 875 is
- the processing tool 10 includes a semiconductor wafer conveyor 60 for transporting
- semiconductor wafers throughout the processing tool 10.
- semiconductor wafers are semiconductor wafers throughout the processing tool 10.
- semiconductor wafers are semiconductor wafers throughout the processing tool 10.
- semiconductor wafers are semiconductor wafers throughout the processing tool 10.
- conveyor 60 may access each wafer cassette interface module 38, 39 and each wafer
- FIG. 16 One embodiment of the wafer conveyor system 60 is depicted in Fig. 16. The wafer
- conveyor 60 generally includes a wafer transport unit guide 66 which preferably comprises an
- transport unit guide 66 may be
- the length of wafer conveyor 60 may be varied and is configured to permit access of
- Wafer transport unit guide 66 defines the paths of movement 68, 70 of wafer transport
- Each semiconductor wafer includes guide rails 63, 64 mounted on opposite sides thereof.
- Each semiconductor wafer includes guide rails 63, 64 mounted on opposite sides thereof.
- transport unit 62, 64 preferably engages a respective guide rail 63, 64.
- Each guide rail can mount one or more transport units 62, 64.
- Extensions 69, 75 may be fixed to opposing sides
- guide 66 for providing stability of the transport units 62, 64 thereagainst and to protect
- Each wafer transport unit 62, 64 includes a roller 77 configured to ride
- wafer conveyor 60 may be formed in alternate
- Ducts 58, 59 are preferably in fluid
- Each wafer transport unit 62, 64 is powered along the respective path 68, 70 by a
- drive operators 71, 74 are mounted to respective sides of
- transport unit guide 66 to provide controllable axial movement of wafer transport units 62, 64
- the drive operators 71, 74 may be linear magnetic motors for providing precise
- electromagnet 79 mounted on the wafer transport units 62, 64 to propel the units along the
- Cable guards 72, 73 may be connected to respective wafer transport units 62, 64 and
- Cable guards 72, 73 may be used to protect communication and power cables therein.
- a first wafer transport unit 62 is coupled with a first side of the
- Each wafer transport unit 62, 64 includes a linear bearing 76 for
- a horizontal roller 77 for engaging a extension 69 formed upon the spine of
- Fig. 17 additionally shows an electromagnet 79 of the first wafer transport unit 62
- electromagnet 79 provide axial movement and directional control of the wafer transport units
- each wafer transport unit 62, 64 includes a movable carriage or tram 84
- a wafer transfer arm assembly 86 coupled to a respective side of the transport unit guide 66, a wafer transfer arm assembly 86
- transfer arm elevator 90 for adjusting the elevation of the transfer arm assembly 86 relative to
- a cover 85 surrounds the portion of tram 84 facing away from
- Tram 84 includes linear bearings 76 for engagement with
- Linear bearings 76 maintain the tram 84 in a fixed relation with the transport unit guide 66 and permit axial movement of
- a roller 77 engages a respective extension 69 for preventing rotation
- tram 84 about guide rail 63, 64 and providing stability of wafer transport unit 62.
- electromagnet 79 is also shown connected with the tram 84 in such a position to magnetically
- a wafer transfer arm assembly 86 extends above the top of tram 84. The wafer
- transfer arm assembly 86 may include a first arm extension 87 coupled at a first end thereof
- a second arm extension 88 may be advantageously coupled with a second
- the first arm extension 87 may rotate 360 degrees about shaft
- second arm extension 88 may rotate 360 degrees about axis 82 passing through a shaft
- Second extension 88 preferably includes a wafer support 89 at a distal end thereof for
- the transfer arm assembly 86 preferably includes a chamber coupled with the wafer support
- the cover 85 has been removed from the wafer transport unit shown in Fig. 19 to reveal a wafer transfer arm elevator 90 coupled with tram 84 and transfer arm assembly 86.
- Transfer arm elevator 90 adjusts the vertical position of the transfer arm assembly 86 relative
- unit guide 66 is precisely controlled using a positional indicating array, such as a CCD array
- each semiconductor wafer holder 91 of Fig. 19. In one embodiment of the processing tool 10, each semiconductor wafer holder
- the light emitter 81 may present a continuous beam
- the transfer arm assembly 86 includes an CCD array 91 positioned to receive the laser
- a position indicating array 91 on shaft 83 detects the
- the positional accuracy of the wafer transport unit position indicator is preferably in die range
- a second embodiment of a wafer transport unit 562b is shown in Figs. 20-25 and is
- Tram 584 includes linear bearings 576 for engagement with respective
- the electromagnet 579 magnetically interacts with the guide 66 to drive
- a wafer transfer arm assembly 586 extends above the top of tram 584. The wafer
- transfer arm assembly 586 includes a first arm extension 587 coupled at a first end thereof
- a second arm extension 588 having a wafer support 589 for supporting the
- semiconductor wafer W may be advantageously coupled with a second end of the first
- the first arm extension 587 may rotate 360 degrees about shaft 583 and
- second arm extension 588 may rotate 360 degrees about axis 582 passing through a shaft
- extension 588 about axis 582 permits the semiconductor wafer transport units 562a, 562b to
- cover 585 has been removed from the wafer transport unit 562b
- Transfer arm elevator 590 adjusts the vertical position of the transfer arm assembly 586
- commumcation path such as a fiber optic filament, replaces wires 72, 73 to the wafer transport units through a digital-to-analog converter board 540 on each of the wafer transport
- TPOW absolute encoder
- TPOW absolute encoder
- Wrist absolute encoder located in the shaft 583.
- TPOWISA 597 is provided at the base of the shaft 583. Lift absolute encoder 596 is located
- absolute encoder 541 are located on the base plate 203 of the base of tram 584, the latter
- conveyor 560 includes a wafer transport unit guide 566 which comprises an elongated spine or
- Wafer transport unit guide 566 defines d e paths of movement
- a spine of transport unit guide 566 includes upper guide rails 563a, 564a and lower guide rails 563b, 564b mounted on opposite sides
- Each semiconductor wafer transport unit 544a, 544b preferably engages each of the
- upper and lower guide rails can mount one or more transport units 544a, 544b.
- Each wafer transport unit 544a, 544b is also powered along the respective patii 568,
- the drive operators 571, 574 may be linear magnetic motors for providing
- transport units 544a, 544b to propel the units along the transport unit guide 566.
- Fiber optic cable guards 572, 573 provide commumcation with the respective wafer
- 573 may comprise a plurality of interconnected segments to permit a full range of motion of
- wafer transport units 544a, 544b along transport unit guide 566.
- wafer transport units 544a, 544b are coupled along each side of
- Each wafer transport unit 544a, 544b includes an upper linear bearing
- wafer transport units 544a, 544b includes a lower linear bearing 576b engaging the lower
- linear guide rails 563b, 564b providing stability and more equal distribution of the weight
- the lower elbow housing 210 is mounted to a base plate 211, as seen in Figs. 21, 23
- mounting screws 212 are embossed pivots 216 on the base plate 211 that engage a
- pivots 216 are preferably sized, relative the lateral groove 218 to provide a clearance between
- housing 210 and die attached transfer arm assembly 586, can be adjusted and fixed to provide
- 576b is obtained by use of a compliant fastening technique.
- a float pin 221 is positioned
- d e control system 100 generally
- At least one grand master controller 101 for controlling and/or monitoring the overall
- the control system 100 is preferably arranged in a hierarchial configuration.
- grand master controller 101 includes a processor electrically coupled with a plurality of
- control subsystems as shown in Fig. 26.
- the control subsystems preferably control and
- control subsystems are
- control subsystems 110 The control subsystems 110,
- 113 - 119 preferably provide process and status information to respective grand master controllers 101, 102.
- the grand master control 101 is coupled with an interface module
- control 110 which may control each of the semiconductor wafer interface modules 38, 39.
- grand master control 101 is coupled wim a conveyor control 113 for controlling
- control system 100 of the processing tool 10 according to d e present disclosure may
- control 119 Four control subsystems may be preferably coupled with each
- the grand master controllers 101, 102 are preferably
- Each grand master controller 101, 102 receives and transmits data to the respective
- a bidirectional memory mapped device is provided intermediate the grand master controller
- memory mapped devices 160 each modular subsystem connected thereto.
- memory mapped devices 160 each modular subsystem connected thereto.
- 161, 162 are provided intermediate the grand master controller 101 and master controllers
- processing module control 114 controls the processing module control 114.
- Each memory mapped device 150, 160 - 162 within the control system 100 is
- grand master controller 101 may write data to a memory location corresponding to master controller 130 and master controller 130 may simultaneously read the data.
- grand master controller 101 may read data from mapped memory device being
- Memory mapped device 150 is preferably provided
- a user interface 30 is preferably coupled with each of the grand master controllers
- the user interface 30 may be advantageously mounted on die exterior of the
- processing tool 10 or at a remote location to provide an operator with processing and status
- the user interface 30 receives and processing directives for the processing tool 10 via user interface 30.
- the user interface 30 receives and processing directives for the processing tool 10 via user interface 30.
- general purpose computer preferably includes a 486 100 MHz processor, but other processors
- Each modular control subsystem including interface module control 110, wafer
- conveyor control 113 and each processing module control 114 - 119 is preferably configured
- the modular control subsystems 110, 113 - 119 are preferably
- the grand master controller 101 controls the processing modules 20, 22, 24.
- corresponding master controllers 130, 131, 132 coupled therewith are preferably embodied on
- Each grand master controller 101, 102 preferably includes a 68EC000
- control system 100 preferably includes a 80251 processor provided by Intel.
- Each master controller 130, 131, 132 is coupled with its respective slave controllers
- Each data link 126, 127, 129 is connected to a data link 126, 127, 129 as shown in Fig. 27 - Fig. 30.
- Each data link 126, 127, 129 is also connected to a data link 126, 127, 129.
- optical data medium such as Optilink provided by Hewlett Packard.
- data links 126, 127, 129 may comprise alternate data transfer media.
- Each master and related slave configuration preferably corresponds
- one master may control or monitor a plurality of modules.
- the master/slave may control or monitor a plurality of modules.
- the grand master controller 101 is connected via memory mapped device 160 to a
- the master controller 130 within the corresponding interface module control 110.
- the master controller 130 is coupled witii a plurality of slave controllers 140, 141, 142. Sixteen slave controllers 140, 141, 142. Sixteen slave controllers 140, 141, 142.
- controllers may be preferably coupled with a single master controller 130 - 132 and each slave
- controller may be configured to control and monitor a single motor or process component, or
- the control system 100 of the processing tool 10 preferably utilizes flash memory.
- controller 130 - 132 and slave controller 140 - 147 within the control system 100 may be
- the grand master controller 101, 102 may poll the corresponding
- each master controller 130 - 132 may operate each master controller 130 - 132.
- each master controller 130 - 132 may operate each master controller 130 - 132.
- 130 - 132 may initiate downloading of d e appropriate program from the grand master
- controller 101, 102 to die respective slave controller 140 - 147 via the master controller 130 -
- Each slave controller may be configured to control and monitor a single motor or a
- each slave controller 140 - 147 may be configured to monitor
- slave controller 145 shown in Fig. 36 may be configured to control and/or monitor
- Each slave controller includes a slave processor which is coupled with a plurality of port interfaces.
- Each port interface may be utilized for control and/or monitoring of servo
- a port may be coupled wim a servo
- controller card 176 which is configured to operate a wafer transfer unit 62a, 62b.
- processor 171 may operate the wafer transfer unit 62a, 62b via the port and servo controller
- the slave processor 171 may operate servo motors within the wafer
- slave controllers 140, 141 may operate different components
- interface module 38 within a single processing tool device, such as interface module 38. More specifically, the
- Slave controller 140 may operate turnstile motor 185 and monitor the position of the
- Slave controller 140 is preferably coupled
- die turnstile motor 185 and turnstile encoder 190 via a servo control card (shown in Fig.
- Slave controller 141 may operate and monitor saddle 45 of the turnstile 40 by controlling
- a port of a slave processor may be coupled with an interface controller card 180 for
- a flow sensor 657 may provide flow information of the delivery of processing
- the interface controller 180 is configured to
- controller 180 may operate a process component, such as a flow controller 658, responsive to
- One slave controller 140 - 147 may contain one or more servo controller and one or
- a servo controller and interface controller may each contain an onboard
- the on board processor which may also control a respective servo motor or
- the slave processor responsive to the data.
- the slave processor responsive to the data.
- the conveyor control subsystem 113 for controlling and monitoring the operation of
- a slave controller 143 of conveyor control 113 is
- slave controller 143 may operate transfer arm assembly 86
- slave controller 144 may be configured to operate wafer transport unit 62b
- slave controller 143 The interfacing of slave controller 143 and light detector 91, drive actuator 71, linear encoder 196 and wafer transport unit 62a is shown in detail in Fig. 36.
- slave controller 143 is preferably coupled witii a servo controller 176.
- 171 may control the linear position of wafer transport unit 62a by operating drive actuator 71
- Light detector 91 may provide linear position information of the
- a linear encoder 196 may also be
- the conveyor slave processor 171 may also control and monitor the operation of the conveyor slave processor 171
- conveyor processor 171 may be coupled witii a transfer arm motor 194 within shaft 83 for
- rotation encoder 197 may be provided within the shaft 83 of each wafer transport unit 62a for
- Slave controller 143 may be advantageously coupled with transfer arm elevation motor
- An incremental transfer arm elevation encoder 198 may be provided witiiin the transfer arm
- elevator assembly 90 for monitoring the elevation of die transfer arm assembly 86.
- conveyor slave controller 143 may be coupled with an air supply control
- valve actuator (not shown) via an interface controller for controlling a vacuum within wafer
- Absolute encoders 199 may be provided within the wafer conveyor 60, interface
- absolute encoder 199 may detect a condition
- encoder 591 located in die elevator 590 encoder 592 located in the
- head rail encoder 599 and track CDD array absolute encoder 541 provide inputs for the
- the control system 100 preferably includes a processing module control subsystem 114
- control system 100 may also include additional components
- processing module control subsystem 119 for controlling and/or monitoring additional wafer
- Respective processing module controls 114, 115, 116 may control and monitor the
- processing module controls 114, 115, 116 may advantageously control and/or monitor the processing of the semiconductor
- a single slave controller 147 may operate a plurality of wafer
- slave controller 148 may be utilized to operate and monitor all process components 184 ⁇ i.e.,
- a single slave controller 145 may operate and monitor a
- wafer holder 410 and process components 184.
- a single slave controller 145 - 148 may be configured to operate and
- slave controller 145 to both a wafer holder 401 and process components are shown in the
- controller 180 may be coupled with respective ports connected to slave processor 172 of slave
- Slave processor 172 may operate and monitor a plurality of wafer holder
- slave processor 172 may operate lift
- encoder 455 may be provided witiiin a wafer holder 401 to provide rotational information of
- lift arm 407 to the respective slave processor 172 or a processor within servo controller 177.
- Slave processor 172 may also control a rotate motor 428 within wafer holder 401 for rotating
- a processing head 406 about shafts 429, 430 between a process position and a semiconductor
- Incremental rotate encoder 435 may provide rotational information regarding the processing head 406 to d e corresponding slave processor 172.
- Spin motor 480 may also be controlled by a processor within servo controller 177 or
- slave processor 172 for rotating the wafer holder 478 during processing of a semiconductor
- An incremental spin encoder 498 is preferably provided to monitor the
- Plating module control 114 advantageously operates the fingertips 414 of die wafer
- 172 may operate a valve via pneumatic valve actuator 201 for supplying air to pneumatic
- controller 145 within the plating module control 114 may thereafter operate the valve actuator
- Slave processor 172 may also control the application of electrical current through the
- the processing module controls 114, 115, 116 preferably operate and monitor the
- slave processor 172 monitors and/or controls process components 184
- the processing fluid passes through the filter, into supply manifold 652 and is delivered via bowl supply lines to a plurality of processing plating bowls wherein
- Each bowl supply line preferably includes a flow
- processor 172 may operate an actuator of flow controller 658 within each bowl supply line to
- Slave processor 172 may also monitor and
- the pressure regulator 656 may provide pressure information to the
- processing module control subsystems 115, 116 may be configured to
- Each interface module control subsystem 110 preferably controls and monitors the
- interface module control 110 controls operation of wafer interface modules 38, 39. More specifically, interface module control 110
- Slave processor 170 within slave controller 140 of interface module control 110 may
- slave modules 38, 39 operate and monitor the function of me interface modules 38, 39.
- slave modules 38, 39 operate and monitor the function of me interface modules 38, 39.
- slave modules 38, 39 operate and monitor the function of me interface modules 38, 39.
- processor 170 may operate doors 35, 36 for providing access into the processing tool 10 via
- slave processor 170 is
- controller 175 may operate the components of interface module 38.
- slave 175 may operate the components of interface module 38.
- slave 175 may operate the components of interface module 38.
- slave 175 may operate the components of interface module 38.
- slave 175 may operate the components of interface module 38.
- slave 175 may operate the components of interface module 38.
- slave 175 may operate the components of interface module 38.
- processor 170 may control turnstile motor 185 for operating rotate functions of turnstile 40
- turnstile encoder 190 momtors the position of turnstile 40 and provides position data to slave
- servo controller 175 may include a processor for reading
- turnstile encoder 190 information from turnstile encoder 190 and controlling turnstile motor 185 in response thereto.
- Servo controller 175 may alert slave processor 170 once turnstile 40 has reaches a desired
- Each wafer cassette turnstile 40 includes a motor for controlling the positioning of
- the slave processor 170 may control the position of saddles
- each wafer cassette turnstile 40 for providing position
- Either slave processor 170 or servo controller 175 may be configured to control die
- the slave processor 170 may be coupled
- Incremental lift encoder 192 and incremental rotation encoder 193 may supply elevation and rotation information of the elevator
- Absolute encoders 199 may be utilized to notify slave processor of extreme conditions
- Elevator lift motor 187 may be
- a wafer cassette tray 50 for holding a wafer cassette 16 is shown in detail in Fig. 9.
- Each cassette tray 50 may include a base 51 and an upright portion 54 preferably
- Two lateral supports 52 may be formed on opposing sides of the
- cassettes 16 thereon in a fixed position during die movement, rotation and exchange of wafer
- Each lateral support 52 contains a groove 53 preferably extending the length
- the wafer cassette trays 50 are preferably utilized during the handling of wafer
- ELECTROPLATING STATION Fig. 33 shows principal components of a second semiconductor processing station 900 is specifically adapted and constructed to serve as an electroplating station.
- the two principal parts of processing station 900 are the wafer rotor assembly, shown generally at 906, .and the electroplating bowl assembly 303.
- Fig. 33 shows an electroplating bowl assembly 303.
- the process bowl assembly consists of a process bowl or plating vessel 316 having an outer bowl side wall 317, bowl bottom 319, and bowl rim assembly 917.
- the process bowl is preferably circular in horizontal cross-section and generally cylindrical in shape although other shapes may be possible.
- the bowl assembly 303 includes a cup assembly 320 which is disposed within a process bowl vessel 317.
- Cup assembly 320 includes a fluid cup portion 321 holding the chemistry for the electroplating process.
- the cup assembly also has a depending skirt 371 which extends below the cup bottom 323 and may have flutes open therethrough for fluid communication and release of any gas that might collect as the chamber below fills with liquid.
- the cup is preferably made from polypropylene or other suitable material.
- a lower opening in the bottom wall of the cup assembly 320 is connected to a polypropylene riser tube 330 which is adjustable in height relative thereto by a threaded connection.
- a first end of the riser tube 330 is secured to the rear portion of an anode shield 393 which supports anode 334.
- a fluid inlet line 325 is disposed within the riser tube 330. Both the riser tube 330 and the fluid inlet line are secured with the processing bowl assembly 303 by a fitting 362.
- the fitting 362 can accommodate height adjustment of both the riser tube and line 325. As such, the connection between the fitting 362 and the riser tube 330 facilitates vertical adjustment of the anode position.
- the inlet line 325 is preferably made from a conductive material, such as titanium, and is used to conduct electrical current to the anode 324, as well as supply fluid to the cup.
- Process fluid is provided to the cup through fluid inlet line 325 and proceeds therefrom through fluid inlet openings 324.
- Plating fluid then fills the chamber 904 through opening 324 as supplied by a plating fluid pump (not shown) or other suitable supply.
- the upper edge of the cup side wall 322 forms a weir which limits the level of electroplating solution within the cup. This level is chosen so that only the bottom surface of wafer W is contacted by the electroplating solution. Excess solution pours over this top edge surface into an overflow chamber 345.
- the level of fluid in the chamber 345 is preferably maintained within a desired range for stability of operation by monitoring the fluid level with appropriate sensors and actuators. This can be done using several different outflow configurations. A preferred configuration is to sense a high level condition using an appropriate sensor and then drain fluid through a drain line as controlled by a control valve. It is also possible to use a standpipe arrangement (not illustrated), and such is used as a final overflow protection device in the preferred plating station. More complex level controls are also possible.
- the outflow liquid from chamber 345 is preferably returned to a suitable reservoir.
- the liquid can then be treated with additional plating chemicals or other constituents of the plating or other process liquid and used again.
- the anode 334 is a consumable anode used in connection with the plating of copper or other metals onto semiconductor materials.
- the specific anode will vary depending upon the metal being plated and other specifics of the plating liquid being used.
- a number of different consumable anodes which are commercially available may be used as anode 334.
- Fig. 33 also shows a diffusion plate 375 provided above the anode 334 for providing a more even distribution of the fluid plating bath across the Wafer W. Fluid passages are provided over all or a portion of the diffusion plate 375 to allow fluid communication therethrough.
- the height of the diffusion plate is adjustable using diffuser height adjustment mechanisms 386.
- the anode shield 393 is secured to the underside of the consumable anode 334 using anode shield fasteners 394 to prevent direct impingement by the plating solution as the solution passes into the processing chamber 904.
- the anode shield 393 and anode shield fasteners 394 are preferably made from a dielectric material, such as polyvinylidene fluoride or polypropylene.
- the anode shield is advantageously about 2-5 millimeters thick, more preferably about 3 millimeters thick.
- the anode shield serves to electrically isolate and physically protect the back side of the anode. It also reduces the consumption of organic plating liquid additives. Although the exact mechanism may not be known at this time, the anode shield is believed to prevent disruption of certain materials which develop over time on the back side of the anode. If the anode is left unshielded, the organic chemical plating additives are consumed at a significantly greater rate. With the shield in place, these additives are not consumed as quickly.
- the wafer rotor assembly 906 holds a wafer W for rotation within the processing chamber 904.
- the wafer rotor assembly 906 includes a rotor assembly 984 having a
- Fingers 979 are preferably adapted to conduct current between the wafer and a plating
- electrical power supply and may be constructed in accordance with various configurations
- the various components used to spin the rotor assembly 984 are disposed in a fixed
- the fixed housing is connected to a horizontally extending arm 909 that, in
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2000514323A JP2001518710A (en) | 1997-09-30 | 1998-01-06 | Semiconductor processing apparatus having a linear conveyor system |
AU60164/98A AU6016498A (en) | 1997-09-30 | 1998-01-06 | Semiconductor processing apparatus having linear conveyor system |
KR1020007003483A KR20010015680A (en) | 1997-09-30 | 1998-01-06 | Semiconductor processing apparatus having linear conveyor system |
EP98903371A EP1027730A1 (en) | 1997-09-30 | 1998-01-06 | Semiconductor processing apparatus having linear conveyor system |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US94052497A | 1997-09-30 | 1997-09-30 | |
US08/940,524 | 1997-09-30 | ||
US08/990,107 US6672820B1 (en) | 1996-07-15 | 1997-12-15 | Semiconductor processing apparatus having linear conveyer system |
US08/990,107 | 1997-12-15 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1999017356A1 true WO1999017356A1 (en) | 1999-04-08 |
Family
ID=27130139
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US1998/000132 WO1999017356A1 (en) | 1997-09-30 | 1998-01-06 | Semiconductor processing apparatus having linear conveyor system |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP1027730A1 (en) |
JP (1) | JP2001518710A (en) |
CN (1) | CN1129175C (en) |
AU (1) | AU6016498A (en) |
WO (1) | WO1999017356A1 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2000068975A2 (en) * | 1999-05-07 | 2000-11-16 | Infineon Technologies Ag | System for manufacturing semiconductor products |
EP1160837A2 (en) * | 2000-05-26 | 2001-12-05 | Ebara Corporation | Substrate processing apparatus and substrate plating apparatus |
EP1222323A1 (en) * | 1999-07-12 | 2002-07-17 | Semitool, Inc. | Lift and rotate assembly for use in a workpiece processing station and a method of attaching the same |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
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US7214027B2 (en) * | 2003-10-16 | 2007-05-08 | Varian Semiconductor Equipment Associates, Inc. | Wafer handler method and system |
JP4462912B2 (en) * | 2003-12-10 | 2010-05-12 | 大日本スクリーン製造株式会社 | Substrate processing apparatus and management method of substrate processing apparatus |
JP4471708B2 (en) * | 2004-03-31 | 2010-06-02 | キヤノンアネルバ株式会社 | Substrate transfer device |
US20070040314A1 (en) * | 2005-07-12 | 2007-02-22 | Lkt Automation Sdn Bhd | Adjustable tool holder |
US7901539B2 (en) * | 2006-09-19 | 2011-03-08 | Intevac, Inc. | Apparatus and methods for transporting and processing substrates |
SG147353A1 (en) * | 2007-05-07 | 2008-11-28 | Mfg Integration Technology Ltd | Apparatus for object processing |
TWI458612B (en) * | 2009-11-10 | 2014-11-01 | Intevac Inc | Linear vacuum robot with z motion and articulated arm |
DK2574574T3 (en) * | 2011-09-30 | 2014-04-22 | Carefusion Germany 326 Gmbh | Pharmacy collection device with universal supply and control module |
JP5885528B2 (en) * | 2012-02-14 | 2016-03-15 | 株式会社安川電機 | Transport device |
JP6053528B2 (en) * | 2013-01-11 | 2016-12-27 | 株式会社荏原製作所 | Substrate gripping device |
EP2865614B1 (en) * | 2013-10-25 | 2017-06-28 | Mettler-Toledo Garvens GmbH | Frame for a conveyor belt assembly |
US10236197B2 (en) * | 2014-11-06 | 2019-03-19 | Applied Materials, Inc. | Processing system containing an isolation region separating a deposition chamber from a treatment chamber |
WO2017026256A1 (en) * | 2015-08-07 | 2017-02-16 | 日本電産サンキョー株式会社 | Industrial robot |
CN117116825B (en) * | 2023-10-19 | 2024-02-13 | 昆山科比精工设备有限公司 | Feeding and conveying device of silicon wafer jig |
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US5172803A (en) * | 1989-11-01 | 1992-12-22 | Lewin Heinz Ulrich | Conveyor belt with built-in magnetic-motor linear drive |
US5660517A (en) * | 1994-04-28 | 1997-08-26 | Semitool, Inc. | Semiconductor processing system with wafer container docking and loading station |
US5664337A (en) * | 1996-03-26 | 1997-09-09 | Semitool, Inc. | Automated semiconductor processing systems |
-
1998
- 1998-01-06 CN CN 98809734 patent/CN1129175C/en not_active Expired - Fee Related
- 1998-01-06 AU AU60164/98A patent/AU6016498A/en not_active Abandoned
- 1998-01-06 WO PCT/US1998/000132 patent/WO1999017356A1/en not_active Application Discontinuation
- 1998-01-06 EP EP98903371A patent/EP1027730A1/en not_active Withdrawn
- 1998-01-06 JP JP2000514323A patent/JP2001518710A/en active Pending
Patent Citations (4)
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US5172803A (en) * | 1989-11-01 | 1992-12-22 | Lewin Heinz Ulrich | Conveyor belt with built-in magnetic-motor linear drive |
US5660517A (en) * | 1994-04-28 | 1997-08-26 | Semitool, Inc. | Semiconductor processing system with wafer container docking and loading station |
US5678320A (en) * | 1994-04-28 | 1997-10-21 | Semitool, Inc. | Semiconductor processing systems |
US5664337A (en) * | 1996-03-26 | 1997-09-09 | Semitool, Inc. | Automated semiconductor processing systems |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2000068975A2 (en) * | 1999-05-07 | 2000-11-16 | Infineon Technologies Ag | System for manufacturing semiconductor products |
WO2000068975A3 (en) * | 1999-05-07 | 2001-04-05 | Infineon Technologies Ag | System for manufacturing semiconductor products |
EP1222323A1 (en) * | 1999-07-12 | 2002-07-17 | Semitool, Inc. | Lift and rotate assembly for use in a workpiece processing station and a method of attaching the same |
EP1222323A4 (en) * | 1999-07-12 | 2004-12-08 | Semitool Inc | Lift and rotate assembly for use in a workpiece processing station and a method of attaching the same |
EP1160837A2 (en) * | 2000-05-26 | 2001-12-05 | Ebara Corporation | Substrate processing apparatus and substrate plating apparatus |
EP1160837A3 (en) * | 2000-05-26 | 2005-11-30 | Ebara Corporation | Substrate processing apparatus and substrate plating apparatus |
US7208074B2 (en) | 2000-05-26 | 2007-04-24 | Ebara Corporation | Substrate processing apparatus and substrate plating apparatus |
Also Published As
Publication number | Publication date |
---|---|
JP2001518710A (en) | 2001-10-16 |
CN1272960A (en) | 2000-11-08 |
AU6016498A (en) | 1999-04-23 |
EP1027730A1 (en) | 2000-08-16 |
CN1129175C (en) | 2003-11-26 |
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