pylabrobot.liquid_handling.backends.hamilton.STAR_backend.STAR.iswap_rotation_drive_move_y

async STAR.iswap_rotation_drive_move_y(y: float, speed: float = 220.0, acceleration_level: int = 2, current_protection_limiter: int = 7, make_space: bool = False)

Move the iSWAP rotation drive to an absolute Y position.

To stay clear of channel 0 regardless of the current W-axis angle, the iSWAP envelope is treated as a circle of radius iswap_rotation_drive_diameter / 2 + iswap_rotation_drive_safety_radius. The safety radius bounds the link-1 and protrusion sweep across all rotation poses.

Parameters:

• y (float) – Target Y coordinate in mm.

• speed (float) – Max velocity in mm/sec. Default 220.0.

• acceleration_level (int) – Acceleration index, 1 or 2. Default 2.

• current_protection_limiter (int) – Motor current limit, 0-7. Default 7.

• make_space (bool) – If True, reposition pipetting channels in a single synchronous JY move when channel 0 is in the way and can be cleared. If False, raise so the caller decides.