pylabrobot.liquid_handling.backends.hamilton.STAR_backend.STAR.iswap_gripper_request_predefined_positions

async STAR.iswap_gripper_request_predefined_positions() → Dict[str, int]

Read the iSWAP gripper drive (G) predefined-position table.

Keys (motor increments; G-drive resolution 0.00554 mm/incr):

“home” pg[0] - home & parking “fully_open” pg[1] - default 24120 = max jaw width “closed” pg[2] - gripper closed “plate_type_1” pg[3] - grip plate type 1 “plate_type_2” pg[4] - grip plate type 2 “plate_type_3” pg[5] - grip plate type 3 “plate_type_4” pg[6] - grip plate type 4 “plate_type_5” pg[7] - grip plate type 5 “plate_type_6” pg[8] - grip plate type 6 “plate_type_7” pg[9] - grip plate type 7

Raises:

RuntimeError – if the iSWAP module is not installed.

Return type:

Dict[str, int]