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

async STAR.iswap_rotation_drive_move_z(z: float, speed: float = 118.0, acceleration: float = 643.66, current_protection_limiter: int = 6)#

Move the iSWAP rotation-drive bottom to an absolute Z (deck coordinates).

z is the rotation-drive bottom Z (lowest physical point of the drive), matching what iswap_rotation_drive_request_z returns. The 13 mm offset to the finger plane (R0 ZA reference) is applied internally.

Parameters:

  • z (float) – Target rotation-drive-bottom Z coordinate in mm.

  • speed (float) – Max velocity in mm/sec. Default 118.0 (firmware default).

  • acceleration (float) – Acceleration in mm/sec^2. Default 643.66 (firmware default 60 in 1000 incr/sec^2 units).

  • current_protection_limiter (int) – Motor current limit, 0-7. Default 6 (firmware default).

Raises:

RuntimeError – if the iSWAP module is not installed.