pylabrobot.liquid_handling.backends.hamilton.STAR_backend.STAR.head96_move_x#

async STAR.head96_move_x(x: float, acceleration_level: int = 3, current_protection_limiter: int = 7)#

Move the 96-head to a target channel-A1 X coordinate via the direct X-arm drive.

Drives the X-arm carriage to x + head96_information.x_offset so channel A1 lands at x: A1 sits left of (below) the carriage center, so deck-A1 = carriage - offset and the carriage target is therefore x + offset (inverse of the iSWAP rotation-drive derivation, iswap_rotation_drive_request_x). Unlike the legacy EM coordinate move (all axes together, no per-axis motion control), this is the single-axis X-arm drive command and exposes acceleration and current control, like head96_move_y / head96_move_stop_disk_z.

Parameters:

  • x (float) – Target A1 X coordinate in mm. Valid range [x_min, 974.0]; x_min is 0.0 with a left side panel installed, else -271.0.

  • acceleration_level (int) – X-arm acceleration index (1-5). Default 3.

  • current_protection_limiter (int) – X-arm motor current limit (0-7). Default 7.

Raises:

  • RuntimeError – If the 96-head is not installed.

  • ValueError – If the target A1 X is outside the legal 96-head X range.