pylabrobot.liquid_handling.backends.hamilton.STAR.STAR#

class pylabrobot.liquid_handling.backends.hamilton.STAR.STAR(device_address: int | None = None, serial_number: str | None = None, packet_read_timeout: int = 3, read_timeout: int = 30, write_timeout: int = 30)#

Bases: HamiltonLiquidHandler

Interface for the Hamilton STAR.

Attributes

`core_parked`
`deck`
`extended_conf`	Extended configuration.
`iswap_parked`
`module_id_length`	The length of the module identifier in firmware commands.
`num_channels`	The number of pipette channels present on the robot.
`unsafe`	Actions that have a higher risk of damaging the robot.
`z_drive_mm_per_increment`

Methods

`__init__`([device_address, serial_number, ...])	Create a new STAR interface.
`additional_time_stamp`()	Additional time stamp
`aspirate`(ops, use_channels[, jet, blow_out, ...])	Aspirate liquid from the specified channels.
`aspirate96`(aspiration[, jet, blow_out, ...])	Aspirate using the Core96 head.
`aspirate_core_96`([aspiration_type, ...])	aspirate CoRe 96
`aspirate_pip`([aspiration_type, tip_pattern, ...])	aspirate pip
`assigned_resource_callback`(resource)	Called when a new resource was assigned to the robot.
`channel_id`(channel_idx)	channel_idx: plr style, 0-indexed from the back
`check_fw_string_error`(resp)	Raise an error if the firmware response is an error response.
`check_type_is_hhc`(device_number)	Convenience method to check that connected device is an HHC.
`check_type_is_hhs`(device_number)	Convenience method to check that connected device is an HHS.
`clld_probe_z_height_using_channel`(channel_idx)	Probes the Z-height below the specified channel on a Hamilton STAR liquid handling machine using the channels 'capacitive Liquid Level Detection' (cLLD) capabilities.
`close_plate_lock`(device_number)	Close HHS plate lock
`collapse_gripper_arm`([...])	Collapse gripper arm
`configure_node_names`()	Configure node names
`core_check_resource_exists_at_location_center`(...)	Check existence of resource with CoRe gripper tool a "Get plate using CO-RE gripper" + error handling Which channels are used for resource check is dependent on which channels have been used for `STAR.get_core(p1: int, p2: int)` which is a prerequisite for this check function.
`core_get_plate`([x_position, x_direction, ...])	Get plate with CoRe gripper tool from wasteblock mount.
`core_move_picked_up_resource`(location, resource)	After a ressource is picked up, move it to a new location but don't release it yet.
`core_move_plate_to_position`([x_position, ...])	Move a plate with CoRe gripper tool.
`core_open_gripper`()	Open CoRe gripper tool.
`core_pick_up_resource`(resource, ...[, ...])	Pick up resource with CoRe gripper tool Low level component of `move_resource()`
`core_put_plate`([x_position, x_direction, ...])	Put plate with CoRe gripper tool and return to wasteblock mount.
`core_release_picked_up_resource`(location, ...)	Place resource with CoRe gripper tool Low level component of `move_resource()`
`define_tip_needle`(tip_type_table_index, ...)	Tip/needle definition.
`deserialize`(data)
`disable_cover_control`()	Disable cover control
`discard_tip`(x_positions, y_positions, ...[, ...])	discard tip
`discard_tips_core96`(x_position, x_direction, ...)	Drop tips with CoRe 96 head
`dispense`(ops, use_channels[, ...])	Dispense liquid from the specified channels.
`dispense96`(dispense[, jet, empty, blow_out, ...])	Dispense using the Core96 head.
`dispense_core_96`([dispensing_mode, ...])	dispense CoRe 96
`dispense_pip`(tip_pattern[, dispensing_mode, ...])	dispense pip
`drain_dual_chamber_system`([pump_station])	Drain system (dual chamber only)
`drop_resource`(drop[, use_arm, ...])	Drop a resource like a plate or a lid using the integrated robotic arm.
`drop_tips`(ops, use_channels[, drop_method, ...])	Drop tips to a resource.
`drop_tips96`(drop[, z_deposit_position, ...])	Drop tips from the 96 head.
`enable_cover_control`()	Enable cover control
`fill_selected_dual_chamber`([pump_station, ...])	Initialize pump station valves (dual chamber only)
`get_available_devices`()	Get a list of available devices that match the specified vendor and product IDs, and serial number and device_address if specified.
`get_channels_y_positions`()	Get the Y position of all channels in mm
`get_core`(p1, p2)	Get CoRe gripper tool from wasteblock mount.
`get_id_from_fw_response`(resp)	Get the id from a firmware response.
`get_iswap_version`()	Lazily load the iSWAP version.
`get_logic_iswap_position`([x_position, ...])	Get logic iSWAP position
`get_or_assign_tip_type_index`(tip)	Get a tip type table index for the tip.
`get_temperature_at_hhc`(device_number)	Query current temperatures of both sensors of specified HHC
`get_temperature_at_hhs`(device_number)	Query current temperatures of both sensors of specified HHS
`get_ttti`(tips)	Get tip type table index for a list of tips.
`halt`()	Halt
`initialize_auto_load`()	Initialize Auto load module
`initialize_autoload`()	Initialize autoload (for standalone configuration only)
`initialize_core_96_head`([x_position, ...])	Initialize CoRe 96 Head
`initialize_dual_pump_station_valves`([...])	Initialize pump station valves (dual chamber only)
`initialize_hhc`(device_number)	Initialize Hamilton Heater Cooler (HHC) at specified TCC port
`initialize_hhs`(device_number)	Initialize Hamilton Heater Shaker (HHS) at specified TCC port
`initialize_iswap`()	Initialize iSWAP (for standalone configuration only)
`initialize_pipetting_channels`([x_positions, ...])	Initialize pipetting channels
`iswap_close_gripper`([grip_strength, ...])	Close gripper
`iswap_get_plate`([x_position, x_direction, ...])	Get plate using iswap.
`iswap_move_picked_up_resource`(location, ...)	After a resource is picked up, move it to a new location but don't release it yet.
`iswap_open_gripper`([open_position])	Open gripper
`iswap_pick_up_resource`(resource, ...[, ...])	Pick up a resource using iSWAP.
`iswap_put_plate`([x_position, x_direction, ...])	put plate
`iswap_release_picked_up_resource`(location, ...)	After a resource is picked up, release it at the specified location.
`iswap_rotate`([position, gripper_velocity, ...])	Rotate the iswap to a predifined position.
`list_available_devices`()	Utility to list all devices that match the specified vendor and product IDs, and serial number and address if specified.
`load_carrier`(carrier[, barcode_reading, ...])	Use autoload to load carrier.
`lock_cover`()	Lock cover
`mm_to_z_drive_increment`(value_mm)
`move_all_channels_in_z_safety`()	Move all pipetting channels in Z-safety position
`move_all_pipetting_channels_to_defined_position`([...])	Move all pipetting channels to defined position
`move_auto_load_to_z_save_position`()	Move auto load to Z save position
`move_autoload_to_slot`(slot_number)	Move autoload to specific slot/track position
`move_channel_x`(channel, x)	Move a channel in the x direction.
`move_channel_y`(channel, y)	Move a channel in the y direction.
`move_channel_z`(channel, z)	Move a channel in the z direction.
`move_core_96_head_to_defined_position`([...])	Move CoRe 96 Head to defined position
`move_core_96_to_safe_position`()	Move CoRe 96 Head to Z save position
`move_iswap_x_relative`(step_size[, ...])
`move_iswap_y_relative`(step_size[, ...])
`move_iswap_z_relative`(step_size[, ...])
`move_left_x_arm_to_position_with_all_attached_components_in_z_safety_position`([...])	Move left X-arm to position with all attached components in Z-safety position
`move_picked_up_resource`(move[, use_arm])	Move a picked up resource like a plate or a lid using the integrated robotic arm.
`move_plate_to_position`([x_position, ...])	Move plate to position.
`move_right_x_arm_to_position_with_all_attached_components_in_z_safety_position`([...])	Move right X-arm to position with all attached components in Z-safety position
`occupy_and_provide_area_for_external_access`([...])	Occupy and provide area for external access
`open_not_initialized_gripper`()
`open_plate_lock`(device_number)	Open HHS plate lock
`park_autoload`()	Park autoload
`park_iswap`([...])	Close gripper
`pick_up_resource`(pickup[, use_arm, ...])	Pick up a resource like a plate or a lid using the integrated robotic arm.
`pick_up_tip`(x_positions, y_positions, ...[, ...])	Tip Pick-up
`pick_up_tips`(ops, use_channels[, ...])	Pick up tips from a resource.
`pick_up_tips96`(pickup[, tip_pickup_method, ...])	Pick up tips using the 96 head.
`pick_up_tips_core96`(x_position, x_direction, ...)	Pick up tips with CoRe 96 head
`position_channels_in_y_direction`(ys)	position all channels simultaneously in the Y direction.
`position_components_for_free_iswap_y_range`()	Position all components so that there is maximum free Y range for iSWAP
`position_left_x_arm_`([x_position])	Position left X-Arm
`position_max_free_y_for_n`(...)	Position all pipetting channels so that there is maximum free Y range for channel n
`position_right_x_arm_`([x_position])	Position right X-Arm
`position_single_pipetting_channel_in_y_direction`(...)	Position single pipetting channel in Y-direction.
`position_single_pipetting_channel_in_z_direction`(...)	Position single pipetting channel in Z-direction.
`pre_initialize_instrument`()	Pre-initialize instrument
`prepare_for_manual_channel_operation`(channel)	Prepare for manual operation.
`prepare_iswap_teaching`([x_position, ...])	Prepare iSWAP teaching
`put_core`()	Put CoRe gripper tool at wasteblock mount.
`query_whether_temperature_reached_at_hhc`(...)	Stop temperature regulation of specified HHC
`read`([timeout])	Read a response from the device.
`release_all_occupied_areas`()	Release all occupied areas
`release_occupied_area`([...])	Release occupied area
`request_additional_timestamp_data`()	Request additional timestamp data
`request_auto_load_slot_position`()	Request auto load slot position.
`request_autoload_initialization_status`()	Request autoload initialization status
`request_core_96_head_channel_tadm_error_status`()	Request CoRe 96 Head channel TADM error status
`request_core_96_head_channel_tadm_status`()	Request CoRe 96 Head channel TADM Status
`request_core_96_head_initialization_status`()
`request_cover_open`()	Request cover open
`request_deck_data`()	Request deck data
`request_download_date`()	Request download date
`request_eeprom_data_correctness`()	Request EEPROM data correctness
`request_electronic_board_type`()	Request electronic board type
`request_error_code`()	Request error code
`request_extended_configuration`()	Request extended configuration
`request_firmware_version`()	Request firmware version
`request_installation_data`()	Request installation data
`request_instrument_initialization_status`()	Request instrument initialization status
`request_iswap_in_parking_position`()	Request iSWAP in parking position
`request_iswap_initialization_status`()	Request iSWAP initialization status
`request_iswap_position`()	Request iSWAP position ( grip center )
`request_iswap_version`()	Firmware command for getting iswap version
`request_left_x_arm_last_collision_type`()	Request left X-Arm last collision type (after error 27)
`request_left_x_arm_position`()	Request left X-Arm position
`request_machine_configuration`()	Request machine configuration
`request_master_status`()	Request master status
`request_maximal_ranges_of_x_drives`()	Request maximal ranges of X drives
`request_name_of_last_faulty_parameter`()	Request name of last faulty parameter
`request_node_names`()	Request node names
`request_number_of_presence_sensors_installed`()	Request number of presence sensors installed
`request_parameter_value`()	Request parameter value
`request_pip_channel_validation_status`()	Request PIP channel validation status
`request_pip_channel_version`(channel)
`request_pip_height_last_lld`()	Request PIP height of last LLD
`request_plate_in_iswap`()	Request plate in iSWAP
`request_position_of_core_96_head`()	Request position of CoRe 96 Head (A1 considered to tip length)
`request_present_wrap_size_of_installed_arms`()	Request present wrap size of installed arms
`request_pump_settings`([pump_station])	Set carrier monitoring
`request_right_x_arm_last_collision_type`()	Request right X-Arm last collision type (after error 27)
`request_right_x_arm_position`()	Request right X-Arm position
`request_single_carrier_presence`(carrier_position)	Request single carrier presence
`request_supply_voltage`()	Request supply voltage
`request_tadm_status`()	Request PIP height of last LLD
`request_technical_status_of_assemblies`()	Request Technical status of assemblies
`request_tip_len_on_channel`(channel_idx)	Measures the length of the tip attached to the specified pipetting channel.
`request_tip_presence`()	Request query tip presence on each channel
`request_tip_presence_in_core_96_head`()	Request Tip presence in CoRe 96 Head
`request_verification_data`([verification_subject])	Request download date
`request_xl_channel_validation_status`()	Request XL channel validation status
`request_y_pos_channel_n`(pipetting_channel_index)	Request Y-Position of Pipetting channel n
`request_z_pos_channel_n`(pipetting_channel_index)	Request Z-Position of Pipetting channel n
`reset_output`([output])	Reset output
`rotate_iswap_rotation_drive`(orientation)
`rotate_iswap_wrist`(orientation)
`save_all_cycle_counters`()	Save all cycle counters
`save_download_date`([date])	Save Download date
`save_pip_channel_validation_status`([...])	Save PIP channel validation status
`save_technical_status_of_assemblies`(...)	Save technical status of assemblies
`save_xl_channel_validation_status`([...])	Save XL channel validation status
`search_for_teach_in_signal_using_pipetting_channel_n_in_x_direction`(...)	Search for Teach in signal using pipetting channel n in X-direction.
`send_command`(module, command[, auto_id, ...])	Send a firmware command to the Hamilton machine.
`send_raw_command`(command[, write_timeout, ...])	Send a raw command to the machine.
`serialize`()	Serialize the backend to a dictionary.
`set_barcode_type`([ISBT_Standard, code128, ...])	Set bar code type: which types of barcodes will be scanned for.
`set_carrier_monitoring`([should_monitor])	Set carrier monitoring
`set_cover_output`([output])	Set cover output
`set_deck`(deck)	Set the deck for the robot.
`set_deck_data`([data_index, data_stream])	set deck data
`set_instrument_configuration`([...])	Set instrument configuration
`set_loading_indicators`(bit_pattern, ...)	Set loading indicators (LEDs)
`set_minimum_traversal_height`(traversal_height)	Set the minimum traversal height for the robot.
`set_not_stop`(non_stop)	Set not stop mode
`set_single_step_mode`([single_step_mode])	Set Single step mode
`set_x_offset_x_axis_core_96_head`(x_offset)	Set X-offset X-axis <-> CoRe 96 head
`set_x_offset_x_axis_core_nano_pipettor_head`(...)	Set X-offset X-axis <-> CoRe 96 head
`set_x_offset_x_axis_iswap`(x_offset)	Set X-offset X-axis <-> iSWAP
`setup`([skip_autoload, skip_iswap, ...])	Creates a USB connection and finds read/write interfaces.
`spread_pip_channels`()	Spread PIP channels
`start_shaking_at_hhs`(device_number, rpm[, ...])	Start shaking of specified HHS
`start_temperature_control_at_hhc`(...)	Start temperature regulation of specified HHC
`start_temperature_control_at_hhs`(...)	Start temperature regulation of specified HHS
`stop`()	Close the USB connection to the machine.
`stop_shaking_at_hhs`(device_number)	Close HHS plate lock
`stop_temperature_control_at_hhc`(device_number)	Stop temperature regulation of specified HHC
`stop_temperature_control_at_hhs`(device_number)	Stop temperature regulation of specified HHS
`store_installation_data`([date, serial_number])	Store installation data
`store_verification_data`([...])	Store verification data
`trigger_next_step`()	Trigger next step (Single step mode)
`unassigned_resource_callback`(name)	Called when a resource is unassigned from the robot.
`unload_carrier`(carrier)	Use autoload to unload carrier.
`unlock_cover`()	Unlock cover
`write`(data[, timeout])	Write data to the device.
`z_drive_increment_to_mm`(value_mm)
`ztouch_probe_z_height_using_channel`(channel_idx)	Probes the Z-height below the specified channel on a Hamilton STAR liquid handling machine using the channels 'z-touchoff' capabilities, i.e. a controlled triggering of the z-drive, aka a controlled 'crash'.

Parameters:

device_address (int | None)
serial_number (str | None)
packet_read_timeout (int)
read_timeout (int)
write_timeout (int)

pylabrobot.liquid_handling.backends.hamilton.STAR.STAR#

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