pylabrobot.liquid_handling.backends.hamilton.STAR_backend.STAR.head96_move_z#

async STAR.head96_move_z(z: float, speed: float = 80.0, acceleration: float = 300.0, current_protection_limiter: int = 15)#

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

Parameters:

  • z (float) – Target Z coordinate in mm. Valid range: [180.5, 342.5]

  • speed (float) – Movement speed in mm/sec. Valid range: [0.25, 100.0]. Default: 80.0

  • acceleration (float) – Movement acceleration in mm/sec^2. Valid range: [25.0, 500.0]. 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

Firmware versions from 2021+ use 1:1 acceleration scaling, while pre-2021 versions use 100x scaling. Both maintain a 100,000 increment upper limit.