pylabrobot.liquid_handling.backends.hamilton.STAR_backend.STAR.head96_move_stop_disk_z#

async STAR.head96_move_stop_disk_z(z: float, speed: float | None = None, acceleration: float | None = None, current_protection_limiter: int = 15)#

Move the 96-head z-drive (stop disk) to an absolute Z position in mm.

Stop-disk reference, mirroring the single-channel move_channel_stop_disk_z: use this for moves without a tip; for the tip end with a tip on, use head96_move_tool_z.

Parameters:

  • z (float) – Target stop-disk Z in mm. Valid range: Head96Information.z_range (180.5-342.5 mm; FM-STAR extends it).

  • speed (float | None) – Movement speed in mm/sec, [0.25, 100.0]; None uses the head’s z_drive_speed_default (85 mm/s; constant for the Z drive, not version-resolved like the Y-drive default).

  • acceleration (float | None) – Movement acceleration in mm/sec^2, [25.0, 500.0]; None uses the head’s z_drive_acceleration_default (400 mm/s^2; likewise constant for the Z drive).

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

Returns:

Response from the hardware command.

Raises:

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.