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

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

Move the iSWAP gripper finger plane to absolute Z position (deck coordinates).

The Z carriage and the gripper translate rigidly together in Z (with a fixed 13 mm offset between the rotation-drive-bottom Z and the finger-plane Z), so the gripper-Z delta equals the rotation-drive-Z delta. Read the current gripper finger-plane Z from FK, translate the rotation drive by the delta, and the gripper lands at z_position via a single smooth R0 ZA move.

Parameters:

  • [mm] (z_position) – target gripper finger-plane Z in deck coordinates.

  • [mm/sec] (speed) – max linear velocity.

  • [mm/sec^2] (acceleration) – max linear acceleration.

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

  • z_position (float)

  • speed (float)

  • acceleration (float)

Raises:

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

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