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Modes","\u002Fconnector-development\u002Fguides\u002Fexecution-modes\u002F","20.connector-development\u002F40.guides\u002F46.execution-modes",{"title":380,"path":893,"stem":894,"type":24,"device":6},"\u002Fconnector-development\u002Fguides\u002Ferror-handling\u002F","20.connector-development\u002F40.guides\u002F50.error-handling",{"title":896,"path":897,"stem":898,"type":24,"device":6},"Serial Troubleshooting","\u002Fconnector-development\u002Fguides\u002Fserial-troubleshooting\u002F","20.connector-development\u002F40.guides\u002F70.serial-troubleshooting",{"title":900,"path":901,"stem":902,"type":24,"device":6},"Testing","\u002Fconnector-development\u002Fguides\u002Ftesting\u002F","20.connector-development\u002F40.guides\u002F80.testing",{"title":904,"path":905,"stem":906,"children":907,"type":6,"device":6},"References","\u002Fconnector-development\u002Freference\u002F","20.connector-development\u002F50.reference\u002Findex",[908],{"title":904,"path":905,"stem":906,"type":200,"device":6},{"id":910,"title":644,"body":911,"description":1378,"device":6,"extension":1379,"links":6,"meta":1380,"navigation":1061,"path":1381,"seo":1382,"stem":646,"type":24,"__hash__":1383},"docs\u002F06.liquid-handling-and-robots\u002F41.hamilton-star\u002F10.positioning.md",{"type":912,"value":913,"toc":1374},"minimark",[914,918,924,942,947,950,957,968,986,990,993,1037,1040,1100,1103,1140,1148,1151,1164,1167,1323,1335,1338,1370],[915,916,917],"p",{},"In this guide the positioning system of the liquid handler is explained. Positions of the pipetting channels with and without attachments will be read out and moved to.",[915,919,920],{},[921,922,923],"strong",{},"Prerequisites",[925,926,927,931,934],"ul",{},[928,929,930],"li",{},"A switched on Hamilton STAR device",[928,932,933],{},"A running Hamilton STAR connector",[928,935,936,937,941],{},"Basic understanding of the liquid handler class (See the ",[938,939,940],"a",{"href":346},"liquid handler tutorial",")",[943,944,946],"h2",{"id":945},"coordinate-system-origin","Coordinate System & Origin",[915,948,949],{},"All measurements are in millimeters. The deck origin (x=0, y=0, z=0) is in the front, left, bottom corner when standing at the cover of the robot. The x-axis is the width, i.e. the axis the arm is moving along from left to right. The y-axis is the depth from the front to the back, i.e. the direction a carrier is sliding in and that the channels can move along back- and forwards. The z-axis is the height and thus the axis the pipetting channels can move up and down on.",[915,951,952,953,956],{},"However, the deck origin does not start at the metal deck, but 100 mm below it. A carrier or instrument placed on the deck will thus be placed at z=100. The first rail also starts 100 mm to the right of the deck, where the first rails is indicated. A carrier position starting on rail 1 therefore has x=100. It is possible to move within the first 100 mm along the x-axis, but the range is defined by the actual hardware setup. The y-range is also constraint, depending on the hardware setup and pipetting channels installed. A carrier in the first position will have it's origin at y=63.",[954,955],"br",{},"\nThe figure below shows the constraints for various pipetting channel configurations.",[915,958,959,960,964,965,967],{},"Always check the device configuration using the ",[961,962,963],"code",{},"hamilton.get_configuration()"," command. The response will provide information of the x-, y-, and z-ranges (See the ",[938,966,940],{"href":346},").",[915,969,970,979],{},[971,972],"img",{"alt":973,"className":974,"src":978},"Illustration of the deck origin",[975,976,977],"max-w-md","mx-auto","mb-2","\u002Fimages\u002Fautomate\u002Fliquid-handling\u002Fdeck-origin.webp",[980,981,985],"span",{"className":982},[983,975,976,984],"block","text-sm","© by Hamilton Company",[943,987,989],{"id":988},"positioning","Positioning",[915,991,992],{},"Different models have different ranges in the x-direction depending on the deck size. The range of the liquid handler arm can be requested with:",[994,995,1000],"pre",{"className":996,"code":997,"language":998,"meta":999,"style":999},"language-python shiki shiki-themes github-light-high-contrast github-light-high-contrast github-dark-default","configuration = await hamilton.get_configuration()\nprint(configuration.min_x, configuration.max_x)\n# 350, 1140\n","python","",[961,1001,1002,1020,1030],{"__ignoreMap":999},[980,1003,1006,1010,1014,1017],{"class":1004,"line":1005},"line",1,[980,1007,1009],{"class":1008},"sc-9e","configuration ",[980,1011,1013],{"class":1012},"sxkbv","=",[980,1015,1016],{"class":1012}," await",[980,1018,1019],{"class":1008}," hamilton.get_configuration()\n",[980,1021,1023,1027],{"class":1004,"line":1022},2,[980,1024,1026],{"class":1025},"sOiAX","print",[980,1028,1029],{"class":1008},"(configuration.min_x, configuration.max_x)\n",[980,1031,1033],{"class":1004,"line":1032},3,[980,1034,1036],{"class":1035},"sIsDC","# 350, 1140\n",[915,1038,1039],{},"The position of the pipetting channels can be accessed through the pipetting head \"pipettes\" module. The x position is identical for all pipetting channels, as they are mounted on the same arm.",[994,1041,1043],{"className":996,"code":1042,"language":998,"meta":999,"style":999},"locations = await hamilton.pipettes.current_locations()\n\nprint(locations)\n# [\n#   Vector(x=415, y=70, z=245),\n#   Vector(x=415, y=79, z=245),\n#   ...\n# ]\n",[961,1044,1045,1057,1063,1070,1076,1082,1088,1094],{"__ignoreMap":999},[980,1046,1047,1050,1052,1054],{"class":1004,"line":1005},[980,1048,1049],{"class":1008},"locations ",[980,1051,1013],{"class":1012},[980,1053,1016],{"class":1012},[980,1055,1056],{"class":1008}," hamilton.pipettes.current_locations()\n",[980,1058,1059],{"class":1004,"line":1022},[980,1060,1062],{"emptyLinePlaceholder":1061},true,"\n",[980,1064,1065,1067],{"class":1004,"line":1032},[980,1066,1026],{"class":1025},[980,1068,1069],{"class":1008},"(locations)\n",[980,1071,1073],{"class":1004,"line":1072},4,[980,1074,1075],{"class":1035},"# [\n",[980,1077,1079],{"class":1004,"line":1078},5,[980,1080,1081],{"class":1035},"#   Vector(x=415, y=70, z=245),\n",[980,1083,1085],{"class":1004,"line":1084},6,[980,1086,1087],{"class":1035},"#   Vector(x=415, y=79, z=245),\n",[980,1089,1091],{"class":1004,"line":1090},7,[980,1092,1093],{"class":1035},"#   ...\n",[980,1095,1097],{"class":1004,"line":1096},8,[980,1098,1099],{"class":1035},"# ]\n",[915,1101,1102],{},"The location for an individual pipette can be requested with:",[994,1104,1106],{"className":996,"code":1105,"language":998,"meta":999,"style":999},"locations = await hamilton.pipettes[0].current_location()\n\nprint(locations)\n# Vector(x=415, y=70, z=245)\n",[961,1107,1108,1125,1129,1135],{"__ignoreMap":999},[980,1109,1110,1112,1114,1116,1119,1122],{"class":1004,"line":1005},[980,1111,1049],{"class":1008},[980,1113,1013],{"class":1012},[980,1115,1016],{"class":1012},[980,1117,1118],{"class":1008}," hamilton.pipettes[",[980,1120,1121],{"class":1025},"0",[980,1123,1124],{"class":1008},"].current_location()\n",[980,1126,1127],{"class":1004,"line":1022},[980,1128,1062],{"emptyLinePlaceholder":1061},[980,1130,1131,1133],{"class":1004,"line":1032},[980,1132,1026],{"class":1025},[980,1134,1069],{"class":1008},[980,1136,1137],{"class":1004,"line":1072},[980,1138,1139],{"class":1035},"# Vector(x=415, y=70, z=245)\n",[1141,1142,1145],"callout",{"color":1143,"icon":1144},"warning","i-heroicons-exclamation-triangle",[915,1146,1147],{},"The z-position is the position of the end of the pipetting channel. However, if tips or other tools are attached, the returned z-position is that of the channel including the tool, i.e. the tip of the needle!",[915,1149,1150],{},"When moving the arm on the x-axis, the robot will always move up to the safe traverse height, when using the commands below. When using low-level commands for movement, it is recommended to always set the channels to a safe traverse height.",[994,1152,1154],{"className":996,"code":1153,"language":998,"meta":999,"style":999},"await hamilton.pipettes.api.set_z_positions_to_safety()\n",[961,1155,1156],{"__ignoreMap":999},[980,1157,1158,1161],{"class":1004,"line":1005},[980,1159,1160],{"class":1012},"await",[980,1162,1163],{"class":1008}," hamilton.pipettes.api.set_z_positions_to_safety()\n",[915,1165,1166],{},"Regular movement in the x-, y-, and z-direction for a single or multiple channels at once:",[994,1168,1170],{"className":996,"code":1169,"language":998,"meta":999,"style":999},"# move all pipettes to an absolute location\nawait hamilton.pipettes.move_to(locations=[\n  Vector(x=415, y=70, z=245),\n  Vector(x=415, y=61, z=245),\n  ...\n])\n\n# move a single pipette to an absolute location\nawait hamilton.pipettes[0].move_to(location=Vector(x=415, y=70, z=245))\n",[961,1171,1172,1177,1193,1230,1259,1264,1269,1273,1278],{"__ignoreMap":999},[980,1173,1174],{"class":1004,"line":1005},[980,1175,1176],{"class":1035},"# move all pipettes to an absolute location\n",[980,1178,1179,1181,1184,1188,1190],{"class":1004,"line":1022},[980,1180,1160],{"class":1012},[980,1182,1183],{"class":1008}," hamilton.pipettes.move_to(",[980,1185,1187],{"class":1186},"sNqAu","locations",[980,1189,1013],{"class":1012},[980,1191,1192],{"class":1008},"[\n",[980,1194,1195,1198,1201,1203,1206,1209,1212,1214,1217,1219,1222,1224,1227],{"class":1004,"line":1032},[980,1196,1197],{"class":1008},"  Vector(",[980,1199,1200],{"class":1186},"x",[980,1202,1013],{"class":1012},[980,1204,1205],{"class":1025},"415",[980,1207,1208],{"class":1008},", ",[980,1210,1211],{"class":1186},"y",[980,1213,1013],{"class":1012},[980,1215,1216],{"class":1025},"70",[980,1218,1208],{"class":1008},[980,1220,1221],{"class":1186},"z",[980,1223,1013],{"class":1012},[980,1225,1226],{"class":1025},"245",[980,1228,1229],{"class":1008},"),\n",[980,1231,1232,1234,1236,1238,1240,1242,1244,1246,1249,1251,1253,1255,1257],{"class":1004,"line":1072},[980,1233,1197],{"class":1008},[980,1235,1200],{"class":1186},[980,1237,1013],{"class":1012},[980,1239,1205],{"class":1025},[980,1241,1208],{"class":1008},[980,1243,1211],{"class":1186},[980,1245,1013],{"class":1012},[980,1247,1248],{"class":1025},"61",[980,1250,1208],{"class":1008},[980,1252,1221],{"class":1186},[980,1254,1013],{"class":1012},[980,1256,1226],{"class":1025},[980,1258,1229],{"class":1008},[980,1260,1261],{"class":1004,"line":1078},[980,1262,1263],{"class":1025},"  ...\n",[980,1265,1266],{"class":1004,"line":1084},[980,1267,1268],{"class":1008},"])\n",[980,1270,1271],{"class":1004,"line":1090},[980,1272,1062],{"emptyLinePlaceholder":1061},[980,1274,1275],{"class":1004,"line":1096},[980,1276,1277],{"class":1035},"# move a single pipette to an absolute location\n",[980,1279,1281,1283,1285,1287,1290,1293,1295,1298,1300,1302,1304,1306,1308,1310,1312,1314,1316,1318,1320],{"class":1004,"line":1280},9,[980,1282,1160],{"class":1012},[980,1284,1118],{"class":1008},[980,1286,1121],{"class":1025},[980,1288,1289],{"class":1008},"].move_to(",[980,1291,1292],{"class":1186},"location",[980,1294,1013],{"class":1012},[980,1296,1297],{"class":1008},"Vector(",[980,1299,1200],{"class":1186},[980,1301,1013],{"class":1012},[980,1303,1205],{"class":1025},[980,1305,1208],{"class":1008},[980,1307,1211],{"class":1186},[980,1309,1013],{"class":1012},[980,1311,1216],{"class":1025},[980,1313,1208],{"class":1008},[980,1315,1221],{"class":1186},[980,1317,1013],{"class":1012},[980,1319,1226],{"class":1025},[980,1321,1322],{"class":1008},"))\n",[1141,1324,1325],{"color":1143,"icon":1144},[915,1326,1327,1328,1330,1331,1334],{},"Pipetting channels have a defined width, so there is a limit on how close they can move together. Using the ",[961,1329,963],{}," command returns the ",[961,1332,1333],{},"pip_channel_gap",", which is - in most configurations - 9 mm. So always keep that 9 mm gap in mind when designing new labware or when moving channels around.",[915,1336,1337],{},"Movement is also possible in an unsafe way. You can move your channels relatively to their current location. With this method, the channels do not move to the safe traverse height first. It might be helpful during development but should not be used in automated workflows due to safety reasons.",[994,1339,1341],{"className":996,"code":1340,"language":998,"meta":999,"style":999},"await hamilton.pipettes[0].move_by(offset=Vector(y=9))\n",[961,1342,1343],{"__ignoreMap":999},[980,1344,1345,1347,1349,1351,1354,1357,1359,1361,1363,1365,1368],{"class":1004,"line":1005},[980,1346,1160],{"class":1012},[980,1348,1118],{"class":1008},[980,1350,1121],{"class":1025},[980,1352,1353],{"class":1008},"].move_by(",[980,1355,1356],{"class":1186},"offset",[980,1358,1013],{"class":1012},[980,1360,1297],{"class":1008},[980,1362,1211],{"class":1186},[980,1364,1013],{"class":1012},[980,1366,1367],{"class":1025},"9",[980,1369,1322],{"class":1008},[1371,1372,1373],"style",{},"html pre.shiki code .sc-9e, html code.shiki .sc-9e{--shiki-light:#0E1116;--shiki-default:#0E1116;--shiki-dark:#E6EDF3}html pre.shiki code .sxkbv, html code.shiki .sxkbv{--shiki-light:#A0111F;--shiki-default:#A0111F;--shiki-dark:#FF7B72}html pre.shiki code .sOiAX, html code.shiki .sOiAX{--shiki-light:#023B95;--shiki-default:#023B95;--shiki-dark:#79C0FF}html pre.shiki code .sIsDC, html code.shiki .sIsDC{--shiki-light:#66707B;--shiki-default:#66707B;--shiki-dark:#8B949E}html .light .shiki span {color: var(--shiki-light);background: var(--shiki-light-bg);font-style: var(--shiki-light-font-style);font-weight: var(--shiki-light-font-weight);text-decoration: var(--shiki-light-text-decoration);}html.light .shiki span {color: var(--shiki-light);background: var(--shiki-light-bg);font-style: var(--shiki-light-font-style);font-weight: var(--shiki-light-font-weight);text-decoration: var(--shiki-light-text-decoration);}html .default .shiki span {color: var(--shiki-default);background: var(--shiki-default-bg);font-style: var(--shiki-default-font-style);font-weight: var(--shiki-default-font-weight);text-decoration: var(--shiki-default-text-decoration);}html .shiki span {color: var(--shiki-default);background: var(--shiki-default-bg);font-style: var(--shiki-default-font-style);font-weight: var(--shiki-default-font-weight);text-decoration: var(--shiki-default-text-decoration);}html .dark .shiki span {color: var(--shiki-dark);background: var(--shiki-dark-bg);font-style: var(--shiki-dark-font-style);font-weight: var(--shiki-dark-font-weight);text-decoration: var(--shiki-dark-text-decoration);}html.dark .shiki span {color: var(--shiki-dark);background: var(--shiki-dark-bg);font-style: var(--shiki-dark-font-style);font-weight: var(--shiki-dark-font-weight);text-decoration: var(--shiki-dark-text-decoration);}html pre.shiki code .sNqAu, html code.shiki .sNqAu{--shiki-light:#702C00;--shiki-default:#702C00;--shiki-dark:#FFA657}",{"title":999,"searchDepth":1005,"depth":1022,"links":1375},[1376,1377],{"id":945,"depth":1022,"text":946},{"id":988,"depth":1022,"text":989},"From moving to specific positions to reading out the current position.","md",{},"\u002Fliquid-handling-and-robots\u002Fhamilton-star\u002Fpositioning",{"title":644,"description":1378},"HPs6EenCg7XzUi97E8hLAZCTht_PC_85_abSufr35TU",[1385,1387],{"title":376,"description":1386,"path":636},"Run scripts against a mock liquid handler that drops in for real hardware and tracks liquid in every well.",{"title":648,"description":1388,"path":649},"Moving labware with the integrated CO-RE gripper.",1791294185440]