Movable body drive method, pattern formation method, exposure method, and device manufacturing method for maintaining position coordinate before and after switching encoder head
First Claim
1. A movable body drive method in which a movable body is driven along a predetermined plane including a first axis and a second axis orthogonal to each other, the method comprising:
- a first process in which a position coordinate of the movable body is obtained, based on measurement values of three encoder heads among a plurality of first encoder heads whose position in a direction parallel to the second axis is different and a plurality of second encoder heads whose position in a direction parallel to the first axis is different, with the three encoder heads respectively facing three gratings among a pair of first gratings whose periodic direction is in a direction parallel to the first axis and a pair of second gratings whose periodic direction is in a direction parallel to the second axis that are arranged on a surface parallel to the predetermined plane of the movable body, the first gratings and the second gratings being positioned on a top surface of the movable body; and
a second process in which a measurement value of an encoder head to be newly used is set so that the position coordinate is maintained before and after the switching of the encoder head.
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Accused Products
Abstract
Positional information of a stage within a movement plane is measured, using three encoders which include at least one each of an X encoder and a Y encoder. Based on position measurement values of the stage, the encoder used in position measurement is switched from an encoder (Enc1, Enc2 and Enc3) to an encoder (Enc4, Enc2 and Enc3). On the switching, a coordinate linkage method or a phase linkage method is applied to set an initial value of an encoder (Enc4) which is to be newly used. Accordingly, position measurement values of the stage before and after the switching are stored even though the encoder used in position measurement of the stage is sequentially switched, and the stage can be driven accurately two-dimensionally.
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Citations
14 Claims
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1. A movable body drive method in which a movable body is driven along a predetermined plane including a first axis and a second axis orthogonal to each other, the method comprising:
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a first process in which a position coordinate of the movable body is obtained, based on measurement values of three encoder heads among a plurality of first encoder heads whose position in a direction parallel to the second axis is different and a plurality of second encoder heads whose position in a direction parallel to the first axis is different, with the three encoder heads respectively facing three gratings among a pair of first gratings whose periodic direction is in a direction parallel to the first axis and a pair of second gratings whose periodic direction is in a direction parallel to the second axis that are arranged on a surface parallel to the predetermined plane of the movable body, the first gratings and the second gratings being positioned on a top surface of the movable body; and a second process in which a measurement value of an encoder head to be newly used is set so that the position coordinate is maintained before and after the switching of the encoder head. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A movable body drive method in which a movable body is driven along a predetermined plane including a first axis and a second axis orthogonal to each other, the method comprising:
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a first process in which a position coordinate of the movable body is obtained, based on measurement values of three encoder heads among a plurality of encoder heads which are placed at an outside of the movable body and whose positions in a plane parallel to the predetermined plane are different, with the three encoder heads respectively facing three scales among four scales, which are placed parallel to the predetermined plane at the movable body, each scale having a grating placed on a top surface of the movable body; and a second process in which a measurement value of an encoder head to be newly used is set so that the position coordinate is maintained before and after the switching of the encoder head. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14)
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Specification