pylabrobot.agilent.benchcel.BenchCel4R.__init__#

BenchCel4R.__init__(name: str, host: str, *, port: int = 7612, timeout: float = 30.0, read_poll_timeout: float = 0.25, loading_tray_teachpoint_id: int | None = None, source_ip: str | None = None, stacks: Sequence[ResourceStack] | None = None, labware: Plate | BenchCelLabwareSettings | dict | None = None, loading_tray_location: Coordinate | None = None, size_x: float = 0.0, size_y: float = 0.0, size_z: float = 0.0, rotation: Rotation | None = None, category: str | None = None, model: str | None = 'Agilent BenchCel 4R')#
Parameters:

  • name (str) – Resource name for the device.

  • host (str) – IP address or DNS name of the BenchCel Ethernet interface.

  • port (int) – TCP port. Defaults to 7612, as observed in VWorks captures.

  • timeout (float) – Default command timeout in seconds.

  • read_poll_timeout (float) – Per-read timeout used while assembling framed replies.

  • loading_tray_teachpoint_id (int | None) – Teachpoint target ID used as the transfer (loading/unloading) point by downstack() and upstack(). There is no fixed loading position on the BenchCel: the transfer point is a teachpoint you taught in VWorks (or with set_teachpoint()). This is intentionally not defaulted – transfers raise unless a teachpoint is configured here, because an unset or wrong teachpoint can send the arm to a home-like pose. The captured VWorks transfer teachpoint was 0x1e, but do not rely on that without verifying it on your device.

  • source_ip (str | None) – Optional local/source IP to bind, useful on hosts with multiple network interfaces connected to different subnets.

  • labware (Plate | BenchCelLabwareSettings | dict | None) – Optional PLR plate, calculated settings object, or serialized settings dict. The device must still be configured with matching VWorks labware settings; this value is used for PLR metadata and validation.

  • stacks (Sequence[ResourceStack] | None) – Optionally provide custom ResourceStack stacks; defaults to four generic stacks.

  • loading_tray_location (Coordinate | None) – Cosmetic Coordinate of the loading-tray resource (resource tree / visualization only; the real transfer position is the teachpoint on the device).

  • size_x (float)

  • size_y (float)

  • size_z (float)

  • rotation (Rotation | None)

  • category (str | None)

  • model (str | None)