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

async STAR.plld_probe_z_height_using_channel(channel_idx: int, lowest_immers_pos: float = 99.98, start_pos_search: float | None = None, channel_speed_above_start_pos_search: float = 120.0, channel_speed: float = 10.0, channel_acceleration: float = 800.0, z_drive_current_limit: int = 3, tip_has_filter: bool = False, dispense_drive_speed: float = 5.0, dispense_drive_acceleration: float = 0.2, dispense_drive_max_speed: float = 14.5, dispense_drive_current_limit: int = 3, plld_detection_edge: int = 30, plld_detection_drop: int = 10, clld_verification: bool = False, clld_detection_edge: int = 10, clld_detection_drop: int = 2, max_delta_plld_clld: float = 5.0, plld_mode: PressureLLDMode | None = None, plld_foam_detection_drop: int = 30, plld_foam_detection_edge_tolerance: int = 30, plld_foam_ad_values: int = 30, plld_foam_search_speed: float = 10.0, dispense_back_plld_volume: float | None = None, post_detection_trajectory: Literal[0, 1] = 1, post_detection_dist: float = 2.0, move_channels_to_safe_pos_after: bool = False) → Tuple[float, float]#

Detect liquid level using pressured-based liquid level detection (pLLD) (1) with or (2) without additional cLLD verification, and (a) with foam detection sub-mode or (b) without foam detection sub-mode.

Notes: - This command is implemented via BOTH the PX and C0 command modules, i.e. it is NOT parallelisable! - lowest_immers_pos & start_pos_search refer to the tip z-coordinate (not the head_probe)! - The return values represent tip z-positions (not the head_probe) in mm!

Parameters:

  • lowest_immers_pos (float) – Lowest allowed search position in mm, expressed in the tip-referenced coordinate system (i.e., the position you would use for commands that include tip length). Internally converted to channel Z-drive coordinates before issuing ZL.

  • start_pos_search (float | None) – Start position for the cLLD search in mm, expressed in the tip-referenced coordinate system. Internally converted to channel Z-drive coordinates before issuing ZL. If None, the highest safe position is used based on tip length.

  • channel_speed_above_start_pos_search (float) – Z speed above the start position (mm/s). Default 120.0.

  • channel_speed (float) – Z search speed (mm/s). Default 10.0.

  • channel_acceleration (float) – Z acceleration (mm/s**2). Default 800.0.

  • z_drive_current_limit (int) – Z drive current limit (instrument units). Default 3.

  • tip_has_filter (bool) – Whether a filter tip is mounted. Default False.

  • dispense_drive_speed (float) – Dispense drive speed (mm/s). Default 5.0.

  • dispense_drive_acceleration (float) – Dispense drive acceleration (mm/s**2). Default 0.2.

  • dispense_drive_max_speed (float) – Dispense drive max speed (mm/s). Default 14.5.

  • dispense_drive_current_limit (int) – Dispense drive current limit (instrument units). Default 3.

  • plld_detection_edge (int) – Pressure detection edge threshold. Default 30.

  • plld_detection_drop (int) – Pressure detection drop threshold. Default 10.

  • clld_verification (bool) – Activates cLLD sensing concurrently with the pressure probing. Note: cLLD measurement itself cannot be retrieved. Instead it can be used for other applications, including (1) verification of the surface level detected by pLLD based on max_delta_plld_clld, (2) detection of foam (more easily triggers cLLD), if desired causing and error. This activates all cLLD-specific arguments. Default False.

  • clld_detection_edge (int) – Capacitive detection edge threshold. Default 10.

  • clld_detection_drop (int) – Capacitive detection drop threshold. Default 2.

  • max_delta_plld_clld (float) – Max allowed delta between pressure/capacitive detections (mm). Default 5.0.

  • plld_mode (PressureLLDMode | None) – Pressure-detection sub-mode (instrument-defined). Default None.

  • plld_foam_detection_drop (int) – Foam detection drop threshold. Default 30.

  • plld_foam_detection_edge_tolerance (int) – Foam detection edge tolerance. Default 30.

  • plld_foam_ad_values (int) – Foam AD values (instrument units). Default 30.

  • plld_foam_search_speed (float) – Foam search speed (mm/s). Default 10.0.

  • dispense_back_plld_volume (float | None) – Optional dispense-back volume after detection (uL). Default None.

  • post_detection_trajectory (Literal[0, 1]) – Post-detection movement pattern selector. Default 1.

  • post_detection_dist (float) – Post-detection movement distance (mm). Default 2.0.

  • channel_idx (int)

  • move_channels_to_safe_pos_after (bool)

Returns:

Two z-coordinates (mm), tip, meaning depends on the selected pressure sub-mode –

  • Single-detection modes/PressureLLDMode.LIQUID: (liquid_level_pos, 0)

  • Two-detection modes/PressureLLDMode.FOAM: (first_detection_pos, liquid_level_pos)

Return type:

Tuple[float, float]