pylabrobot.liquid_handling.backends.hamilton.STAR_backend.STAR.head96_move_tool_z

async STAR.head96_move_tool_z(z: float, speed: float | None = None)

Move the 96-head tip bottom to an absolute Z position in mm.

Requires tips. head96_move_stop_disk_z references the stop disk, so this reads the tip overhang (stop disk minus tip bottom, measured move-free from head96_request_stop_disk_z vs head96_request_position) and offsets the move so the tip end lands on z. Mirrors the single-channel move_channel_tool_z: a tip-presence guard plus a tip-space range check.

Parameters:

• z (float) – Target tip-bottom Z in mm.

• speed (float | None) – Movement speed in mm/sec; None uses the head default.

Raises:

ValueError – if the 96-head holds no tips, or z is outside the reachable tip-bottom window.