pylabrobot.liquid_handling.backends.hamilton.STAR_backend.STAR.iswap_close_gripper

async STAR.iswap_close_gripper(grip_strength: int = 5, plate_width: float = 86.0, plate_width_tolerance: float = 2.0)

Close gripper

The gripper should be at the position plate_width+plate_width_tolerance+2.0mm before sending this command.

Parameters:

• grip_strength (int) – Grip strength. 0 = low . 9 = high. Default 5.

• plate_width (float) – Plate width [mm] (gb should be > min. Pos. + stop ramp + gt -> gb > 760 + 5 + g ). Default 86.0 (SBS short side, matching iswap_get_plate’s 860 in 0.1 mm units).

• plate_width_tolerance (float) – Plate width tolerance [mm]. Must be between 0.5 and 9.9. Default 2.0.