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

async STAR.ztouch_probe_z_height_using_channel(channel_idx: int, tip_len: float | None = None, lowest_immers_pos: float = 99.98, start_pos_search: float = 330.0, channel_speed: float = 10.0, channel_acceleration: float = 800.0, channel_speed_upwards: float = 125.0, detection_limiter_in_PWM: int = 1, push_down_force_in_PWM: int = 0, post_detection_dist: float = 2.0, move_channels_to_save_pos_after: bool = False) → float#

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:

  • channel_idx (int) – The index of the channel to use for probing. Backmost channel = 0.

  • lowest_immers_pos (float) – The lowest immersion position in mm.

  • start_pos_lld_search – The start position for z-touch search in mm.

  • channel_speed (float) – The speed of channel movement in mm/sec.

  • channel_acceleration (float) – The acceleration of the channel in mm/sec**2.

  • detection_limiter_in_PWM (int) – Offset PWM limiter value for searching

  • push_down_force_in_PWM (int) – Offset PWM value for push down force. cf000 = No push down force, drive is switched off.

  • post_detection_dist (float) – Distance to move into the trajectory after detection in mm.

  • move_channels_to_save_pos_after (bool) – Flag to move channels to a safe position after operation.

  • tip_len (float | None)

  • start_pos_search (float)

  • channel_speed_upwards (float)

Returns:

The detected Z-height in mm.

Return type:

float