Background: I need the swapper to be in the fully extended position to access a plate outside of deck in plate reader. In position 34 below.
Currently I have able to move there using relative movements. As well as release the plate.
await lh.backend.move_iswap_x_relative(-99)
await lh.backend.iswap_open_gripper()
Unable to perform:
await lh.backend.iswap_close_gripper(grip_strength=4, plate_width=820, plate_width_tolerance=20)
Error:
Traceback (most recent call last):
File "C:\Users\User\Documents\GitHub\lh_opt\test.py", line 270, in <module>
asyncio.run(main())
~~~~~~~~~~~^^^^^^^^
File "C:\Users\User\AppData\Local\Programs\Python\Python313\Lib\asyncio\runners.py", line 195, in run
return runner.run(main)
~~~~~~~~~~^^^^^^
File "C:\Users\User\AppData\Local\Programs\Python\Python313\Lib\asyncio\runners.py", line 118, in run
return self._loop.run_until_complete(task)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^^^^^
File "C:\Users\User\AppData\Local\Programs\Python\Python313\Lib\asyncio\base_events.py", line 719, in run_until_complete
return future.result()
~~~~~~~~~~~~~^^
File "C:\Users\User\Documents\GitHub\lh_opt\test.py", line 186, in main
await lh.backend.iswap_close_gripper(grip_strength=4, plate_width=900, plate_width_tolerance=20)
File "C:\Users\User\Documents\GitHub\lh_opt\pylabrobot\pylabrobot\liquid_handling\backends\hamilton\STAR.py", line 6390, in iswap_close_gripper
return await self.send_command(
^^^^^^^^^^^^^^^^^^^^^^^^
...<5 lines>...
)
^
File "C:\Users\User\Documents\GitHub\lh_opt\pylabrobot\pylabrobot\liquid_handling\backends\hamilton\base.py", line 247, in send_command
resp = await self._write_and_read_command(
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
...<5 lines>...
)
^
File "C:\Users\User\Documents\GitHub\lh_opt\pylabrobot\pylabrobot\liquid_handling\backends\hamilton\base.py", line 279, in _write_and_read_command
result = await fut
^^^^^^^^^
File "C:\Users\User\Documents\GitHub\lh_opt\pylabrobot\pylabrobot\liquid_handling\backends\hamilton\base.py", line 360, in _continuously_read
self.check_fw_string_error(resp)
~~~~~~~~~~~~~~~~~~~~~~~~~~^^^^^^
File "C:\Users\User\Documents\GitHub\lh_opt\pylabrobot\pylabrobot\liquid_handling\backends\hamilton\STAR.py", line 1337, in check_fw_string_error
raise he
pylabrobot.liquid_handling.backends.hamilton.STAR.STARFirmwareError: {'Master': CommandSyntaxError('Parameter out of range')}, C0GCid0027er01/32
The location to place and pickup the plate from position = await lh.backend.request_iswap_position()
is x=1078, y=152, z=260
.
Interested in any other solutions to achieve this. I believe that the frontend pick_up_resource
is unable to pickup in this extended fashion.
Thank you!