Robot Motors

RobotContext

A context for the movement system of the robot.

The RobotContext class provides the objects, attributes, and methods that allow you to control robot motor axes individually.

Its methods can command the robot to perform an action, like moving to an absolute position, controlling the gripper jaw, or moving individual pipette motors.

Objects in this class should not be instantiated directly. Instead, instances are returned by robot().

New in version 2.22

axis_coordinates_for

axis_coordinates_for(mount, location)

Build an axis map from a location to provide to either move_axes_to() or move_axes_relative(). You must provide only one of either a location, slot, or module to build the axis map.

Parameters:

• mount (Union[Mount, str]) –

  The mount of the instrument you wish to create an axis map for. This can either be an instance of Mount or one of the strings "left", "right", "extension", "gripper". Note that the gripper mount can be referred to either as "extension" or "gripper".

• location (Union[Well, ModuleContext, DeckLocation, OffDeckType]) –

  Any location on the deck, specified as:

  • A deck location, like slot "A1".
  • A defined location, like a module on the deck.

build_axis_map

build_axis_map(axis_map)

Take in a StringAxisMap and output an axis map.

The StringAxisMap is allowed to contain any of the following strings: "x", "y", "z_l", "z_r", "z_g", "q".

An example of a valid axis map could be:

{"x": 1, "y": 2} or {"Z_L": 100}

Note that capitalization does not matter.

close_gripper_jaw

close_gripper_jaw(force=None)

Closes the Flex Gripper jaws with a specified force.

Parameters:

• force (Optional[float], default: None ) –

  Force with which to close the gripper jaws in newtons.

move_axes_relative v2.22

move_axes_relative(axis_map, speed=None)

Move a set of axes to a relative position on the deck.

Parameters:

• axis_map (dict) –

  A dictionary mapping axes to relative movements from the current position in mm.

• speed (float, default: None ) –

  The maximum speed with which to move all axes in mm/s.

move_axes_to v2.22

move_axes_to(axis_map, critical_point=None, speed=None)

Move a set of axes to an absolute position on the deck.

Parameters:

• axis_map (dict) –

  A dictionary mapping axes to an absolute position on the deck in mm.

• critical_point (Optional[dict], default: None ) –

  The critical point, or specific point on the object being moved, to move the axes with. It should only specify the gantry axes (i.e. x, y, z). When you specify a critical point, you're specifying the object on the gantry to be moved. If not specified, the critical point defaults to the center of the carriage attached to the gantry.

• speed (Optional[float], default: None ) –

  The maximum speed with which to move all axes in mm/s.

move_to v2.22

move_to(mount, destination, speed=None)

Move a specified mount to a location on the deck.

Parameters:

• mount (Union[Mount, str]) –

  The mount of the instrument you wish to move. This can either be an instance of Mount or one of the strings "left", "right", "extension", "gripper". Note that the gripper mount can be referred to either as "extension" or "gripper". destination: Any location on the deck, specified as:

  • A slot, like "A1".
  • A defined location, like labware in a deck slot.
  • An absolute location, like a point {x=10, y=10, z=10} or a deck location and point ("A1" + point {x=10, y=10, z=10}).
• speed (Optional[float], default: None ) –

  The absolute speed in mm/s.

open_gripper_jaw

open_gripper_jaw()

Fully opens the Flex Gripper jaws.

plunger_coordinates_for_named_position

plunger_coordinates_for_named_position(mount, position_name)

Build an axis map to move a pipette plunger motor to a named position.

Parameters:

• position_name (PlungerPositionTypes) –

  A named position to move the pipette plunger to. Choose from top, bottom, blowout, or drop plunger positions.

plunger_coordinates_for_volume

plunger_coordinates_for_volume(mount, volume, action)

Build an axis map to move a pipette plunger motor to complete liquid handling actions.

Parameters:

• mount (Union[Mount, str]) –

  The left or right instrument mount the pipette is attached to.

• volume (float) –

  A volume to convert to an axis map for linear plunger displacement.

• action (PipetteActionTypes) –

  Choose to aspirate or dispense.