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

async STAR.move_iswap_x(x_position: float, acceleration_level: int = 3, current_protection_limiter: int = 7)#

Move the iSWAP gripper center to absolute X position (deck coordinates).

The X-arm carriage and the gripper translate rigidly together in X, so the gripper-X delta equals the rotation-drive-X delta. Read the current gripper X from FK, translate the X-arm by the delta, and the gripper lands at x_position via a single smooth motion plan.

Parameters:

  • [mm] (x_position) – target gripper X in deck coordinates.

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

  • current_protection_limiter (int) – motor current limit, 0..7.

  • x_position (float)

Raises:

  • RuntimeError – if iSWAP is not installed, or if setup() has not populated iswap_information.

  • ValueError – if the resolved rotation drive X is outside the X-arm hardware range, or if any arg is outside its valid range.