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

async STAR.iswap_get_plate(x_position: int = 0, x_direction: int = 0, y_position: int = 0, y_direction: int = 0, z_position: int = 0, z_direction: int = 0, grip_direction: int = 1, minimum_traverse_height_at_beginning_of_a_command: int = 3600, z_position_at_the_command_end: int = 3600, grip_strength: int = 5, open_gripper_position: int = 860, plate_width: int = 860, plate_width_tolerance: int = 860, collision_control_level: int = 1, acceleration_index_high_acc: int = 4, acceleration_index_low_acc: int = 1, fold_up_sequence_at_the_end_of_process: bool = True)#

Get plate using iswap.

Parameters:

  • x_position (int) – Plate center in X direction [0.1mm]. Must be between 0 and 30000. Default 0.

  • x_direction (int) – X-direction. 0 = positive 1 = negative. Must be between 0 and 1. Default 0.

  • y_position (int) – Plate center in Y direction [0.1mm]. Must be between 0 and 6500. Default 0.

  • y_direction (int) – Y-direction. 0 = positive 1 = negative. Must be between 0 and 1. Default 0.

  • z_position (int) – Plate gripping height in Z direction. Must be between 0 and 3600. Default 0.

  • z_direction (int) – Z-direction. 0 = positive 1 = negative. Must be between 0 and 1. Default 0.

  • grip_direction (int) – Grip direction. 1 = negative Y, 2 = positive X, 3 = positive Y, 4 =negative X. Must be between 1 and 4. Default 1.

  • minimum_traverse_height_at_beginning_of_a_command (int) – Minimum traverse height at beginning of a command 0.1mm]. Must be between 0 and 3600. Default 3600.

  • z_position_at_the_command_end (int) – Z-Position at the command end [0.1mm]. Must be between 0 and 3600. Default 3600.

  • grip_strength (int) – Grip strength 0 = low .. 9 = high. Must be between 1 and 9. Default 5.

  • open_gripper_position (int) – Open gripper position [0.1mm]. Must be between 0 and 9999. Default 860.

  • plate_width (int) – plate width [0.1mm]. Must be between 0 and 9999. Default 860.

  • plate_width_tolerance (int) – plate width tolerance [0.1mm]. Must be between 0 and 99. Default 860.

  • collision_control_level (int) – collision control level 1 = high 0 = low. Must be between 0 and 1. Default 1.

  • acceleration_index_high_acc (int) – acceleration index high acc. Must be between 0 and 4. Default 4.

  • acceleration_index_low_acc (int) – acceleration index high acc. Must be between 0 and 4. Default 1.

  • fold_up_sequence_at_the_end_of_process (bool) – fold up sequence at the end of process. Default True.