Movable body drive method and movable body drive system, pattern formation method and pattern formation apparatus, and device manufacturing method
First Claim
1. A movable body drive method of driving a movable body along a predetermined plane, the method comprising:
- a drive process in which positional information of the movable body is measured using an interferometer system and an encoder system, and the movable body is driven based on measurement information of the interferometer system and also the movable body is driven using measurement information of the encoder system so that a measurement error of the interferometer system is compensated,the encoder system having a plurality of encoders and measuring the positional information of the movable body using at least one of the encoders; and
a switching process in which at least one of the encoders used in measurement of the positional information of the movable body is switched to a different one of the encoders according to a change of a position of the movable body in a plane parallel to the predetermined plane, whereinin the switching process, a measurement value of the different one of the encoders is determined so that the position of the movable body in the plane parallel to the predetermined plane is maintained before and after the switching.
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Accused Products
Abstract
First positional information of a stage is measured using an interferometer system, for example, an X interferometer and a Y interferometer. At the same time, second positional information of the stage is measured using an encoder system, for example, one X head and one Y head. A coordinate offset is set by performing a moving average of the difference between the first positional information and the second positional information for over a predetermined measurement time, and the reliability of output signals of the encoder system is verified using the coordinate offset. In the case the output signals are determined to be normal, the stage is servocontrolled using the sum of the first positional information and the coordinate offset. Such servocontrol by a hybrid method makes it possible to perform drive control of the stage having stability of the interferometer and accuracy of the encoder together.
28 Citations
24 Claims
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1. A movable body drive method of driving a movable body along a predetermined plane, the method comprising:
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a drive process in which positional information of the movable body is measured using an interferometer system and an encoder system, and the movable body is driven based on measurement information of the interferometer system and also the movable body is driven using measurement information of the encoder system so that a measurement error of the interferometer system is compensated, the encoder system having a plurality of encoders and measuring the positional information of the movable body using at least one of the encoders; and a switching process in which at least one of the encoders used in measurement of the positional information of the movable body is switched to a different one of the encoders according to a change of a position of the movable body in a plane parallel to the predetermined plane, wherein in the switching process, a measurement value of the different one of the encoders is determined so that the position of the movable body in the plane parallel to the predetermined plane is maintained before and after the switching. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A pattern formation method of forming a predetermined pattern on an object held by a movable body, the method comprising:
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a drive process in which when the movable body is driven along a predetermined plane while measuring positional information of the movable body using an interferometer system and an encoder system, measurement information of the interferometer system is used as the positional information of the movable body; and a calibration process in which predetermined calibration processing to improve alignment accuracy of the pattern and the object is performed using measurement information of the encoder system, wherein the calibration processing includes obtaining and correcting a speed deviation of the movable body, using positional information of the movable body obtained from the measurement information of the encoder system, the speed deviation occurring when performing scanning alignment measurement in which an aerial image of a predetermined mark is measured during constant speed scan of the movable body. - View Dependent Claims (12, 13)
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14. A movable body drive system that drives a movable body along a predetermined plane, the system comprising:
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an interferometer system that measures positional information of the movable body; an encoder system that has a plurality of encoders and measures positional information of the movable body using at least one of the encoders; a drive device that drives the movable body based on measurement information of the interferometer system, and also drives the movable body using measurement information of the encoder system so as to compensate a measurement error of the interferometer system; and a switching device that switches at least one of the encoders used in measurement of the positional information of the movable body to a different one of the encoders according to a change of a position of the movable body in a plane parallel to the predetermined plane, wherein the switching device determines a measurement value of the different one of the encoders so that the position of the movable body in the plane parallel to the predetermined plane is maintained before and after the switching. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22)
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23. A pattern formation apparatus that forms a predetermined pattern on an object held by a movable body, the apparatus comprising:
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an interferometer system that measures positional information of the movable body; an encoder system that measures positional information of the movable body; and a processing device that, when the movable body is driven along a predetermined plane while measuring positional information of the movable body using the interferometer system and the encoder system, uses measurement information of the interferometer system as the positional information of the movable body, and also performs predetermined calibration processing to improve alignment accuracy of the pattern and the object using measurement information of the encoder system, wherein at least a part of an aerial image measuring device including a pattern plate is arranged on the movable body, the aerial image measuring device being used to measure an aerial image of a predetermined mark during constant speed scan of the movable body, and wherein as the calibration processing, the processing device obtains and corrects a speed deviation of the movable body using positional information of the movable body obtained from the measurement information of the encoder system, when performing scanning alignment measurement in which an aerial image of a predetermined mark is measured during constant speed scan of the movable body using the aerial image measuring device. - View Dependent Claims (24)
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Specification