US 20080180053 A1
A positioning device includes an object table, a sub-system for processing an object to be placed on the object table, a drive unit for displacing the object table relative to the sub-system, and a measuring system for measuring a position of the object table relative to the sub-system. The drive unit includes a stationary part which is fastened to a first frame of the positioning device, while the measuring system includes a stationary part and a movable part which is fastened to the object table for cooperation with the stationary part of the measuring system. The stationary part of the measuring system is fastened to a second frame of the positioning device which is dynamically isolated from the first frame.
1. A positioning device comprising an object table, a sub-system for processing an object to be placed on the object table, a drive unit for displacing the object table relative to the sub-system, and a measuring system for measuring a position of the object table relative to the sub-system, the drive unit comprising a stationary part which is fastened to a first frame of the positioning device, while the measuring system comprises a stationary part and a movable part which is fastened to the object table for cooperation with the stationary part of the measuring system, characterized in that the stationary part of the measuring system is fastened to a second frame of the positioning device which is dynamically isolated from the first frame.
This is a Division of application Ser. No. 09/449,763 filed Nov. 26, 1999, which in turn is a Continuation of application Ser. No. 09/192,153 filed Nov. 12, 1998 (now U.S. Pat. No. 6,246,202), which is a Continuation of application Ser. No. 08/416,558 filed Apr. 4, 1995 (now U.S. Pat. No. 5,874,820). Said application Ser. No. 09/449,763 also is a Continuation-In-Part of application Ser. No. 09/127,288 filed Jul. 31, 1998 (now U.S. Pat. No. 6,049,186), which is a Continuation of application Ser. No. 08/627,824 filed Apr. 2, 1996 (now U.S. Pat. No. 5,942,871), which is a Continuation of application Ser. No. 08/221,375 filed Apr. 1, 1994 (now U.S. Pat. No. 5,528,118). The entire disclosures of the above-identified prior applications are hereby-incorporated by reference herein in their entireties.
1. Field of the Invention
This invention relates to precision motion stages and more specifically to a stage suitable for use in a photolithography machine and especially adapted for supporting a reticle.
2. Description of the Prior Art
Photolithography is a well known field especially as applied to semiconductor fabrication. In photolithography equipment, a stage (an X-Y motion device) supports the reticle (i.e., mask) and a second stage supports the semiconductor wafer, i.e., the work piece being processed. Sometimes only a single stage is provided, for the wafer or the mask.
Such stages are essential for precision motion in the X-axis and Y-axis directions and often some slight motion is provided for adjustments in the vertical (Z-axis) direction. A reticle stage is typically used where the reticle is being scanned in a scanning exposure system, to provide smooth and precise scanning motion in one linear direction and insuring accurate, reticle to wafer alignment by controlling small displacement motion perpendicular to the scanning direction and a small amount of “yaw” (rotation) in the X-Y plane. It is desirable that such an X-Y stage be relatively simple and be fabricated from commercially available components in order to reduce cost, while maintaining the desired amount of accuracy. Additionally, many prior art stages include a guide structure located directly under the stage itself. This is not desirable in a reticle stage since it is essential that a light beam be directed through the reticle and through the stage itself to the underlying projection lens. Thus, a stage is needed which does not include any guides directly under the stage itself, since the stage itself must define a fairly large central passage for the light beam.
Additionally, many prior art stages do not drive the stage through its center of gravity which undesirably induces a twisting motion in the stage, reducing the frequency response of the stage. Therefore, there is a need for an improved stage and especially one suitable for a reticle stage.
A precision motion stage mechanism includes the stage itself which moves in the X-Y plane on a flat base. The stage is laterally surrounded by a “window frame” guide structure which includes four members attached at or near their corners to form a rectangular structure. The attachments are flexures which are a special type of hinge allowing movement to permit slight distortion of the rectangle. In one version, these flexures are thin stainless steel strips attached in an “X” configuration, allowing the desired degree of hinge movement between any two adjacent connected window frame members.
The window frame guide structure moves on a base against two spaced-apart and parallel fixed guides in, e.g., the X axis direction, being driven by motor coils mounted on two opposing members of the window frame cooperating with magnetic tracks fixed on the base.
The window frame in effect “follows” the movement of the stage and carries the magnetic tracks needed for movement of the stage in the Y axis direction. (It is to be understood that references herein to the X and Y axes directions are merely illustrative and for purposes of orientation relative to the present drawings and are not to be construed as limiting.)
The stage movement in the direction perpendicular (the Y axis direction) to the direction of movement of the window frame is accomplished by the stage moving along the other two members of the window frame. The stage is driven relative to the window frame by motor coils mounted on the stage and cooperating with magnetic tracks mounted in the two associated members of the window frame.
To minimize friction, the stage is supported on the base by air bearings or other fluid bearings mounted on the underside of the stage. Similarly, fluid bearings support the window frame members on their fixed guides. Additionally, fluid bearings load the window frame members against the fixed guides and load the stage against the window frame. So as to allow slight yaw movement, these loading bearings are spring mounted. The stage itself defines a central passage. The reticle rests on a chuck mounted on the stage. Light from an illuminating source typically located above the reticle passes to the central passage through the reticle and chuck to the underlying projection lens.
It is to be understood that the present stage, with suitable modifications, is not restricted to supporting a reticle but also may be used as a wafer stage and is indeed not limited to photolithography applications but is generally suited to precision stages.
An additional aspect in accordance with the invention is that the reaction force of the stage and window frame drive motors is not transmitted to the support frame of the photolithography apparatus projection lens but is transmitted independently directly to the earth's surface by an independent supporting structure. Thus, the reaction forces caused by movement of the stage do not induce undesirable movement in the projection lens or other elements of the photolithography machine.
This physically isolating the stage reaction forces from the projection lens and associated structures prevents these reaction forces from vibrating the projection lens and associated structures. These structures include the interferometer system used to determine the exact location of the stage in the X-Y plane and the wafer stage. Thus, the reticle stage mechanism support is spaced apart from and independently supported from the other elements of the photolithography machine and extends to the surface of the earth.
Advantageously, the reaction forces from operation of the four motor coils for moving both the stage and its window frame are transmitted through the center of gravity of the stage, thereby desirably reducing unwanted moments of force (i.e., torque). The controller controlling the power to the four drive motor coils takes into consideration the relative position of the stage and the frame and proportions the driving force accordingly by a differential drive technique.
The detailed description from U.S. patent application Ser. No. 08/221,375 is reproduced below.
While it will be appreciated by those skilled in the art that the guideless stage, with or without its isolating reaction frame, has many applications to many different types of instruments for precise positioning of objects, the invention will be described with respect to a preferred embodiment in the form of a microlitholigraphic instrument for aligning wafers in a system where a lens produces an image which is exposed to the photoresist on the wafer surface. In addition, while the guideless stage with or without its isolation stage can be utilized as a guideless object stage movable in just one direction, such as a X or an Y direction, the preferred embodiment is directed to a guideless XY wafer stage as described below.
Referring now to the drawings, with particular reference to
Inertial or seismic blocks 222 are located on the system such as mounted on the arms 218. These blocks 222 can take the form of a cast box which can be filled with sand at the operation site to avoid shipment of a massive structure. An object or wafer stage base 228 is supported from the arms 218 by depending blocks 222 and depending bars 226 and horizontal bars 227 (see
The XY stage 230 also includes an appropriate element of a magnetic coupling means such as a linear drive motor for aligning the wafer with the lens of the optical system 216 for precisely positioning an image for exposure of a photoresist on the wafer's surface. In the embodiment illustrated, the magnetic coupling means takes the form of a pair of drive members such as X drive coils 242X and 242X′ for positioning the XY stage 230 in the X direction and a pair of Y drive members such as drive coils 244Y and 244Y′ for positioning the XY stage 230 in the Y direction. The associated portion of the magnetic coupling means on the reaction frame assembly 260 will be described in later detail below.
The XY stage 230 includes a pair of laser mirrors 238X operative with respect to a pair of laser beams 240A/240A′ and 238Y operative with respect to a pair of laser beams 240B/240B′ of a laser beam interferometer system 292 for determining and controlling the precise XY location of the XY stage relative to a fixed mirror RMX at the lower part of the lens barrel PL of the projection optical system 216.
The reaction frame 261 includes face plates 264X and 264X′ extending between support posts 262 in the X direction and 266Y and 266Y′ extending between support posts in the Y direction. Inside the face plates 264-266 a plurality of reaction frame rails 267-269 and 267′-269′ are provided for supporting and guiding an X follower 272 and a Y follower 282. Inside face plate 264X are an upper follower guide rail 267 and a lower follower guide rail 268 (not shown) and on the inside surface of the opposite face plate 264X′ are upper and lower follower guide rails 267′ and 268′. On the inside surfaces of each of the face plates 266Y and 266Y′ is a single guide rail 269 and 269′, respectively, which is positioned vertically in between the guide rails 267 and 268.
The X follower includes a pair of spaced apart arms 274 and 274′ connected at their one end by a cross piece 276. Drive elements such as drive tracks 278 and 278′ (see
For movably mounting the X follower 272 on the reaction frame 261, the ends of the arms 274 and 274′ at the side of the reaction frame 261 ride or are guided on the rail 269, and the opposite ends of the arms 274 and 274′ ride on rail 269′ adjacent face plate 266Y′. For moving the X follower 272 a drive member 277 is provided on the cross piece 276 for cooperating with the reaction frame guide 269 for moving the follower 272 in a direction which is perpendicular to the X direction of the XY stage. Since the precision drive and control takes place in the XY stage 230, the positioning control of the X follower 272 does not have to be as accurate and provide as close tolerances and air gaps as the XY stage 230. Accordingly, the drive mechanism 277 can be made of a combination of a screw shaft rotated by a motor and a nut engaged by the X follower 272 or a combination of a coil assembly and a magnet assembly to establish a linear motor and each combination can be further combined with a roller guiding mechanism.
Similar to the X follower 272, the Y follower 282 includes a pair of arms 284 and 284′ connected at their one end by a crossbar 286 and including drive tracks 288 and 288′ for cooperating with the Y drive members 244Y and 244Y′. The arms 284 and 284′ of the Y follower 282 are guided on separate guide rails. The ends of arm 284 ride or are guided on the upper rails 267 and 267′ and the ends of arm 284′ are guided on lower rails 268 and 268′. A drive mechanism 287 is provided on the cross piece 286 of the Y follower 282 for moving the Y follower 282 along guides 267, 267′, 268 and 268′ between the face plates 266Y and 266Y′ in a direction perpendicular to the Y direction of the XY stage.
As best illustrated in
In operation of the guideless stage and isolated reaction frame of the invention, the XY stage 230 is positioned in an initial position relative to the projection lens as sensed by the interferometer system 292, and the XY stage 230 is supported in the desired Z direction from the object stage base 228 by the air bearings 236 with the drive coils 242X, 242X′, 244Y and 244Y′ spaced from the drive elements in the form of drive tracks 278, 278′, 288 and 288′, respectively. There is no direct contact between the XY stage 230 and the reaction frame 261. That is, there is no path for the vibration of the reaction frame to affect the position of the XY stage and vice versa. There is only indirect contact via the transmission means that deliver the signals to the coils and the laser interferometer position sensing system which then transmits sensed position information to the controller which receives other commands to initiate drive signals which result in movement of the XY stage 230.
With the known position of the XY stage 230 from the interferometer system 292, drive signals are sent from the position control system 294 to the appropriate drive coils, 242X, 242X′, 244Y and 244Y′ to drive the XY stage to a new desired position. The motion of the XY stage is sensed by the interferometer system 292 and position sensors 298X and 298Y (see
Also, the position sensor 298Y detects a variation of X direction space between the XY stage 230 and the Y follower 282 and generates an electric signal representing the amount of space, and the drive member 287 is energized on the basis of the Y position information from the interferometer system 292 and the signal from the position sensor 298Y.
Yaw correction is accomplished by the pairs of linear motors which can be used to hold or offset yaw, or the pairs of linear motors can change the rotational position of the XY stage. The data from either or both pairs of laser beams 240A/240A′ and 240B/240B′ are used to obtain yaw information. Electronic subtraction of digital position data obtained from measurement using the laser beams 240A and 240A′ or 240B and 240B′ is performed or both differences are added and divided by two.
This invention allows the positioning function of the XY stage to be accomplished faster than if XY guides were used. Reaction forces created in moving the XY stage can be coupled away from the image forming optics and reticle handling equipment.
This invention needs no precision X or Y guides as compared to a guided stage, and precision assembly and adjustment of the wafer XY stage is reduced due to the lack of precision guides. The servo bandwidth is increased because the linear motor forces in the XY axes act directly on the wafer stage; they do not have to act through a guide system.
Forces from the XY linear motors can all be sent substantially through the center of gravity of the XY stage thereby eliminating unwanted moments of force (torque).
With the X follower 272 and the Y follower 282 mounted and moved totally independently of one another, any vibration of a follower is not conveyed to the wafer XY stage or to the optical system when using commercially available electromagnetic linear motors for the magnetic coupling between each of the followers 272 and 282 and the XY stage 230 and with clearance between the coils and magnet drive tracks less than about 1 mm. Additionally, with the arms of one of the followers spaced above and below the arms of the other follower, the vector sum of the moments of force at the center of gravity of the XY stage due to the positioning forces of cooperating drive members is substantially equal to zero.
No connection exists between the XY stage and the follower stages that would allow vibrations to pass between them in the X, Y or theta degrees of freedom. This allows the follower stages to be mounted to a vibrating reference frame without affecting performance of the wafer stage. For example, if the reaction frame were struck by an object, the XY stage and the projection optical system would be unaffected.
It will be appreciated by a person skilled in the art that if the center of gravity is not equidistant between either of the two X drive coils or either of the two Y drive coils, that appropriate signals of differing magnitude would be sent to the respective coils to apply more force to the heavier side of the stage to drive the XY stage to the desired position.
For certain applications the drive elements 242X/242X′ or 242Y/242Y′ of the actuator or magnetic coupling assembly for supplying electromagnetic force to the movable XY stage may be held stationary (see
In the last of the explanation of this embodiment, referring to
The stage base 228 is supported on the foundation (or ground, base structure) 221 by the isolation blocks 220, arms 218, blocks 222, the vertical bars 226 and the horizontal bars 227. Each of the isolation blocks 220 is composed of a vibration absorbing assembly to prevent transmission of the vibration from the foundation 221.
The two arms 274, 274′ are rigidly assembled to move together in Y direction by the guide rails 269, 269′ formed inside of the reaction frame 261. Also, the guide rails 269, 269′ restrict the movement of the two arms 274, 274′ in X and Z directions. The reaction frame 261 is directly supported on the foundation 221 by the four support posts 262 independently from the stage base 228.
Therefore, the drive coils 242X (242X′) and the drive tracks 278 (278′) are disposed with respect to each other to maintain a predetermined gap (a few millimeters) in Y and Z directions.
Accordingly, when the drive coils 242X, 242X′ are energized to move the XY stage 230 in X direction, the reaction force generated on the drive tracks 278, 278′ is transferred to the foundation 221, not to the XY stage 230.
On the other hand, as the XY stage 230 moves in Y direction, the two arms 274, 274′ are moved in Y direction by the drive member 277 such that each of the drive tracks 278, 278′ follows respective coils 242X, 242X′ to maintain the gap in Y direction on the basis of the measuring signal of the position sensor 298X.
While the invention has been described with reference to the preferred embodiment having a pair of X drive members or coils 242X and 242X′ and a pair of Y drive members or coils 244Y and 244Y′, it is possible to construct a guideless stage with an isolated reaction frame in accordance with the invention with just three drive members or linear motors such as shown in
Referring now to
As illustrated in
In an operative example of the embodiment illustrated in
The stage 10 is (in plan view) a rectangular structure of a rigid material (e.g., steel, aluminum, or ceramic). Two interferometry mirrors 14A and 14B located on stage 10 interact conventionally with respectively laser beams 16A and 16B. Conventionally, laser beams 16A are two pairs of laser beams and laser beams 16B are one pair of laser beam, for three independent distance measurements. The underside of stage 10 defines a relieved portion 22 (indicated by a dotted line, not being visible in the plane of the drawing). A reticle 24 is located on stage 10 and held by conventional reticle vacuum groove 26 formed in the upper surface of chuck plate 28. Stage 10 also defines a central aperture 30 (passage) below the location of reticle 24. Central aperture 30 allows the light (or other) beam which penetrates through reticle 24 to enter the underlying projection lens, as described further below. (It is to be understood that the reticle 24 itself is not a part of the stage mechanism.) Moreover, if the present stage mechanism is to be used for other than a reticle stage, i.e., for supporting a wafer, aperture 30 is not needed.
Stage 10 is supported on a conventional rectangular base structure 32 of, e.g., granite, steel, or aluminum, and having a smooth planar upper surface. The left and right edges (in
In an alternative air bearing/vacuum structure, the vacuum portion is physically separated from and adjacent to the air bearing portion. It is to be understood that the vacuum and compressed air are provided externally via tubing in a conventional cable bundle and internal tubing distribution system (not shown in the drawings for simplicity). In operation, stage 10 thereby floats on the air bearings 36A, 36B, 36C approximately 1 to 3 micrometers above the flat top surface of base structure 32. It is to be understood that other types of bearings (e.g., air bearing/magnetic combination type) may be used alternatively.
Stage 10 is laterally surrounded by the “window frame guide” which is a four member rectangular structure. The four members as shown in
The window frame guide structure moves in the X axis (to the left and right in
The window frame guide is driven along the X axis on fixed guides 46A and 46B, 64A and 64B by a conventional linear motor, which includes a coil 60A which is mounted on window frame guide member 40A. Motor coil 60A moves in a magnetic track 62A which is located in (or along) fixed guide 64A. Similarly, motor coil 60B which is mounted on window frame guide member 40B moves in magnetic track 62B which is located in fixed guide 64B. The motor coil and track combinations are part no. LM-310 from Trilogy Company of Webster Tex. These motors are also called “linear commutator motors”. The tracks 62A, 62B are each a number of permanent magnets fastened together. The electric wires which connect to the motor coils are not shown but are conventional. Other types of linear motors may be substituted. It is to be understood that the locations of the motor coils and magnetic tracks for each motor could be reversed, so that for instance the magnetic tracks are located on stage 10 and the corresponding motor coils on the window frame guide members, at a penalty of reduced performance.
Similarly, stage 10 moves along the Y axis in
Also shown in
The use of the air bearing 72A opposing bearings 72B and 72C provides a loading effect to keep the window frame guide in its proper relationship to fixed guides 64A, 64B. Similarly, an air bearing 76A loads opposing air bearings 76B and 76C, all mounted on side surfaces of the stage 10, in maintaining the proper location of stage 10 relative to the opposing window frame guide members 40B and 40D. Again, in this case one air bearing such as 76A is gimbal mounted to provide a limited amount of misalignment, or gimbal mounted with the gimbal on a flexure (spring). Air bearings 72A, 72B, 72C and 76A, 76B, and 76C are conventional air bearings.
The outer structure 80 in
The drive forces for the stage mechanism are provided as close as possible through the stage mechanism center of gravity. As can be understood, the center of gravity of the stage mechanism moves with the stage 10. Thus, the stage 10 and the window frame guide combine to define a joint center of gravity. A first differential drive control (not shown) for motor coils 60A, 60B takes into account the location of the window frame guide to control the force exerted by each motor coil 60A, 60B to keep the effective force applied at the center of gravity. A second conventional differential drive control (not shown) for motor coils 68A, 68B takes into account the location of stage 10 to control the force exerted by each motor coil 68A, 68B to keep the effective force applied at the center of gravity. It is to be understood that since stage 10 has a substantial range of movement, that the differential drive for the motor coils 60A, 60B has a wide differential swing. In contrast, the window frame guide has no CG change, hence the differential drive for the motor coils 68A, 68B has a much lesser differential swing, providing a trim effect. Advantageously, use of the window frame guide maintains the reaction forces generated by movement of the reticle stage mechanism in a single plane, thus making it easier to isolate these forces from other parts of the photolithography apparatus.
The supporting structure 94 for the projection lens 92 is also shown in
The lower portion of
Each individual flexure is, e.g., ¼ hard 302 stainless steel approximately 20 mils (0.02 inch) thick and can sustain a maximum bend of 0.5 degree. The width of each flexure is not critical; a typical width is 0.5 inch. Two, three or four flexures are used at each hinge 44A, 44B, 44C and 44D in
Note that the frame members 40B, 40D of
In an alternate embodiment, the window frame guide is not hinged but is a rigid structure. To accommodate this rigidity and prevent binding, one of bearings 72C or 72B is eliminated, and the remaining bearing moved to the center of member 40B, mounted on a gimbal with no spring. The other bearings (except those mounted on stage 10) are also gimballed.
This disclosure is illustrative and not limiting; further modifications will be apparent to one skilled in the art in light of this disclosure.