pylabrobot.agilent.vspin.Access2Driver.unload#

async Access2Driver.unload(bucket_teachpoint: int = 2, *, plate_height: float = 10, source_z_offset: float = 3, destination_z_offset: float = 3, park_z_offset: float = 0, gripper_open_position: float = 0.0, gripper_closed_position: float = 5.68, gripper_close_threshold: float = 1.5, source_speed: Literal['slow', 'medium', 'fast'] = 'slow', destination_speed: Literal['slow', 'medium', 'fast'] = 'slow', park_speed: Literal['slow', 'medium', 'fast'] = 'slow', gripper_open_speed: Literal['slow', 'medium', 'fast'] = 'fast', gripper_close_speed: Literal['slow', 'medium', 'fast'] = 'slow', gripper_release_speed: Literal['slow', 'medium', 'fast'] = 'slow') → None#

Move a plate from the selected bucket onto the stage.

Parameters:

  • bucket_teachpoint (int) – Controller teachpoint for the target bucket.

  • plate_height (float) – Plate height sent to the controller, in millimeters.

  • source_z_offset (float) – Z offset at the pickup teachpoint, in millimeters.

  • destination_z_offset (float) – Z offset at the placement teachpoint, in millimeters.

  • park_z_offset (float) – Z offset when returning to park, in millimeters.

  • gripper_open_position (float) – Absolute gripper-axis position when opening, in millimeters.

  • gripper_closed_position (float) – Absolute gripper-axis target when closing, in millimeters.

  • gripper_close_threshold (float) – Minimum axis position accepted as plate contact, in millimeters.

  • source_speed (Literal['slow', 'medium', 'fast']) – Approach to the pickup teachpoint; slow, medium, or fast.

  • destination_speed (Literal['slow', 'medium', 'fast']) – Move carrying the plate to placement; slow, medium, or fast.

  • park_speed (Literal['slow', 'medium', 'fast']) – Return to park after release; slow, medium, or fast.

  • gripper_open_speed (Literal['slow', 'medium', 'fast']) – Initial opening before pickup; slow, medium, or fast.

  • gripper_close_speed (Literal['slow', 'medium', 'fast']) – Closing on the plate; slow, medium, or fast.

  • gripper_release_speed (Literal['slow', 'medium', 'fast']) – Opening to release the plate; slow, medium, or fast.

Return type:

None