pylabrobot.liquid_handling.backends.hamilton.STAR_backend.STAR.head96_move_y#

async STAR.head96_move_y(y: float, speed: float = 300.0, acceleration: float = 300.0, current_protection_limiter: int = 15)#

Move the 96-head to a specified Y-axis coordinate.

Parameters:

  • y (float) – Target Y coordinate in mm. Valid range: [93.75, 562.5]

  • speed (float) – Movement speed in mm/sec. Valid range: [0.78125, 390.625 or 625.0]. Default: 300.0

  • acceleration (float) – Movement acceleration in mm/sec**2. Valid range: [78.125, 781.25]. Default: 300.0

  • current_protection_limiter (int) – Motor current limit (0-15, hardware units). Default: 15

Returns:

Response from the hardware command.

Raises:

AssertionError – If 96-head not installed, firmware info missing, or parameters out of range.

Note

Maximum speed varies by firmware version: - Pre-2021: 390.625 mm/sec (25,000 increments) - 2021+: 625.0 mm/sec (40,000 increments) The exact firmware version introducing this change is undocumented.