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Endpoints","\u002Fconnector-development\u002Ftutorial\u002Fsila-endpoints\u002F","20.connector-development\u002F20.tutorial\u002F10.sila-endpoints",{"title":836,"path":837,"stem":838,"type":46,"device":6},"Data Endpoints","\u002Fconnector-development\u002Ftutorial\u002Fdata-endpoints\u002F","20.connector-development\u002F20.tutorial\u002F20.data-endpoints",{"title":840,"path":841,"stem":842,"type":46,"device":6},"Controls","\u002Fconnector-development\u002Ftutorial\u002Fcontrols\u002F","20.connector-development\u002F20.tutorial\u002F30.controls",{"title":844,"path":845,"stem":846,"type":46,"device":6},"SiLA Data Types","\u002Fconnector-development\u002Ftutorial\u002Fdata-types\u002F","20.connector-development\u002F20.tutorial\u002F40.data-types",{"title":848,"path":849,"stem":850,"type":46,"device":6},"Feature","\u002Fconnector-development\u002Ftutorial\u002Fconnector-structure\u002F","20.connector-development\u002F20.tutorial\u002F70.connector-structure",{"title":852,"path":853,"stem":854,"type":46,"device":6},"Hardware Communication","\u002Fconnector-development\u002Ftutorial\u002Fhardware-communication\u002F","20.connector-development\u002F20.tutorial\u002F90.hardware-communication",{"title":272,"type":6,"device":6,"path":856,"stem":857,"children":858,"page":41},"\u002Fconnector-development\u002Fconcepts\u002F","20.connector-development\u002F30.concepts",[859],{"title":860,"path":861,"stem":862,"type":285,"device":6},"SiLA","\u002Fconnector-development\u002Fconcepts\u002Fsila\u002F","20.connector-development\u002F30.concepts\u002Fsila",{"title":864,"path":865,"stem":866,"children":867,"page":41},"Guides","\u002Fconnector-development\u002Fguides\u002F","20.connector-development\u002F40.guides",[868,872,876,880,884,888,892,895,899],{"title":869,"path":870,"stem":871,"type":24,"device":6},"Configuration","\u002Fconnector-development\u002Fguides\u002Fconfiguration\u002F","20.connector-development\u002F40.guides\u002F20.configuration",{"title":873,"path":874,"stem":875,"type":24,"device":6},"Logging","\u002Fconnector-development\u002Fguides\u002Flogging\u002F","20.connector-development\u002F40.guides\u002F21.logging",{"title":877,"path":878,"stem":879,"type":24,"device":6},"Deployment","\u002Fconnector-development\u002Fguides\u002Fdeployment\u002F","20.connector-development\u002F40.guides\u002F30.deployment",{"title":881,"path":882,"stem":883,"type":24,"device":6},"Security","\u002Fconnector-development\u002Fguides\u002Fsecurity\u002F","20.connector-development\u002F40.guides\u002F40.security",{"title":885,"path":886,"stem":887,"type":24,"device":6},"Subscriptions","\u002Fconnector-development\u002Fguides\u002Fsubscriptions\u002F","20.connector-development\u002F40.guides\u002F45.subscriptions",{"title":889,"path":890,"stem":891,"type":24,"device":6},"Execution 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":697,"body":911,"description":2254,"device":6,"extension":2255,"links":6,"meta":2256,"navigation":1041,"path":2257,"seo":2258,"stem":699,"type":24,"__hash__":2259},"docs\u002F06.liquid-handling-and-robots\u002F42.hamilton-vantage\u002F30.ipg.md",{"type":912,"value":913,"toc":2234},"minimark",[914,918,931,937,963,968,973,993,997,1008,1056,1063,1072,1079,1102,1105,1191,1207,1211,1349,1353,1357,1369,1404,1416,1479,1489,1530,1534,1549,1685,1689,1704,1897,1901,1908,1914,1932,1941,1945,1948,1960,1964,1967,2012,2016,2025,2128,2132,2135,2151,2215,2230],[915,916,917],"p",{},"The IPG (Internal Plate Gripper) is the plate transport arm on the Hamilton Microlab Vantage. It picks up and places microplates between positions on the deck.",[919,920,923],"callout",{"color":921,"icon":922},"info","i-heroicons-information-circle",[915,924,925,926,930],{},"The IPG is the Vantage equivalent of the iSWAP on the Hamilton STAR. See ",[927,928,929],"a",{"href":653},"Using the iSWAP"," for background on plate gripper concepts such as positional reference frames and grip directions.",[915,932,933],{},[934,935,936],"strong",{},"Prerequisites",[938,939,940,944,947,950,957],"ul",{},[941,942,943],"li",{},"A switched on Hamilton Vantage with IPG installed",[941,945,946],{},"A plate carrier and a plate on the deck",[941,948,949],{},"A running Vantage connector",[941,951,952,953,956],{},"Basic understanding of how labware is used (See the ",[927,954,955],{"href":769},"using standard labware tutorial",")",[941,958,959,960,956],{},"Basic understanding of labware transports (See the ",[927,961,962],{"href":633},"labware transport guide",[964,965,967],"h2",{"id":966},"grip-parameters","Grip Parameters",[969,970,972],"h3",{"id":971},"grip-height-and-width","Grip Height and Width",[915,974,975,976,980,981,984,985,988,989,992],{},"Grip height and grip width are read from the labware definition — ",[977,978,979],"code",{},"grab_height"," sets the vertical grip position (distance from the top of the plate), and grip width is taken from ",[977,982,983],{},"labware.dimensions.x"," or ",[977,986,987],{},".y"," depending on the gripper orientation. See the ",[927,990,991],{"href":773},"plates guide"," for how these fields are defined on a labware class.",[969,994,996],{"id":995},"grip-direction","Grip Direction",[915,998,999,1000,1003,1004,1007],{},"The IPG arm position and gripper orientation are encoded together in the ",[977,1001,1002],{},"GripDirection"," enum, accessible via ",[977,1005,1006],{},"IPG.GripDirection",". The first letter is the arm position (R=Right, F=Front, L=Left, B=Back) and the second is the gripper orientation.",[1009,1010,1015],"pre",{"className":1011,"code":1012,"language":1013,"meta":1014,"style":1014},"language-python shiki shiki-themes github-light-high-contrast github-light-high-contrast github-dark-default","from unitelabs.liquid_handling.hamilton import Vantage\n\n# GripDirection is accessible as a class attribute on the IPG\n# e.g. vantage.ipg.GripDirection.LR  (arm Left, gripper facing Right)\n","python","",[977,1016,1017,1036,1043,1050],{"__ignoreMap":1014},[1018,1019,1022,1026,1030,1033],"span",{"class":1020,"line":1021},"line",1,[1018,1023,1025],{"class":1024},"sxkbv","from",[1018,1027,1029],{"class":1028},"sc-9e"," unitelabs.liquid_handling.hamilton ",[1018,1031,1032],{"class":1024},"import",[1018,1034,1035],{"class":1028}," Vantage\n",[1018,1037,1039],{"class":1020,"line":1038},2,[1018,1040,1042],{"emptyLinePlaceholder":1041},true,"\n",[1018,1044,1046],{"class":1020,"line":1045},3,[1018,1047,1049],{"class":1048},"sIsDC","# GripDirection is accessible as a class attribute on the IPG\n",[1018,1051,1053],{"class":1020,"line":1052},4,[1018,1054,1055],{"class":1048},"# e.g. vantage.ipg.GripDirection.LR  (arm Left, gripper facing Right)\n",[915,1057,1058,1059,1062],{},"When only an arm position matters (gripper orientation preserved from current hardware state), use ",[977,1060,1061],{},"IPG.ArmPosition",":",[1009,1064,1066],{"className":1011,"code":1065,"language":1013,"meta":1014,"style":1014},"# vantage.ipg.ArmPosition.LEFT\n",[977,1067,1068],{"__ignoreMap":1014},[1018,1069,1070],{"class":1020,"line":1021},[1018,1071,1065],{"class":1048},[915,1073,1074,1075,1078],{},"Passing ",[977,1076,1077],{},"None"," for a direction uses the IPG's current orientation.",[915,1080,1081,1082,1085,1086,1089,1090,1093,1094,1097,1098,1101],{},"These values are passed to the ",[977,1083,1084],{},"pick_up_direction"," and ",[977,1087,1088],{},"drop_direction"," parameters of ",[977,1091,1092],{},"transfer()",", ",[977,1095,1096],{},"pick_up_from()",", and ",[977,1099,1100],{},"put_down()"," described in the sections below.",[915,1103,1104],{},"For example, to approach from the right when picking up and drop from the front:",[1009,1106,1108],{"className":1011,"code":1107,"language":1013,"meta":1014,"style":1014},"await vantage.ipg.transfer(\n    labware=plate,\n    target=plate_carrier[1],\n    pick_up_direction=vantage.ipg.GripDirection.RL,  # arm Right, gripper facing Left\n    drop_direction=vantage.ipg.GripDirection.FF,     # arm Front, gripper facing Front\n)\n",[977,1109,1110,1118,1130,1147,1166,1185],{"__ignoreMap":1014},[1018,1111,1112,1115],{"class":1020,"line":1021},[1018,1113,1114],{"class":1024},"await",[1018,1116,1117],{"class":1028}," vantage.ipg.transfer(\n",[1018,1119,1120,1124,1127],{"class":1020,"line":1038},[1018,1121,1123],{"class":1122},"sNqAu","    labware",[1018,1125,1126],{"class":1024},"=",[1018,1128,1129],{"class":1028},"plate,\n",[1018,1131,1132,1135,1137,1140,1144],{"class":1020,"line":1045},[1018,1133,1134],{"class":1122},"    target",[1018,1136,1126],{"class":1024},[1018,1138,1139],{"class":1028},"plate_carrier[",[1018,1141,1143],{"class":1142},"sOiAX","1",[1018,1145,1146],{"class":1028},"],\n",[1018,1148,1149,1152,1154,1157,1160,1163],{"class":1020,"line":1052},[1018,1150,1151],{"class":1122},"    pick_up_direction",[1018,1153,1126],{"class":1024},[1018,1155,1156],{"class":1028},"vantage.ipg.GripDirection.",[1018,1158,1159],{"class":1142},"RL",[1018,1161,1162],{"class":1028},",  ",[1018,1164,1165],{"class":1048},"# arm Right, gripper facing Left\n",[1018,1167,1169,1172,1174,1176,1179,1182],{"class":1020,"line":1168},5,[1018,1170,1171],{"class":1122},"    drop_direction",[1018,1173,1126],{"class":1024},[1018,1175,1156],{"class":1028},[1018,1177,1178],{"class":1142},"FF",[1018,1180,1181],{"class":1028},",     ",[1018,1183,1184],{"class":1048},"# arm Front, gripper facing Front\n",[1018,1186,1188],{"class":1020,"line":1187},6,[1018,1189,1190],{"class":1028},")\n",[919,1192,1195],{"color":1193,"icon":1194},"warning","i-heroicons-exclamation-triangle",[915,1196,1197,1198,1085,1200,1202,1203,1206],{},"The IPG on Vantage has no collision detection with deck elements. Choose ",[977,1199,1084],{},[977,1201,1088],{}," carefully to avoid collision of arm and gripper with carriers, labware, and other deck components. Always verify directions against your deck layout before running a protocol. Make sure there are no deck components higher than ",[977,1204,1205],{},"traverse_height"," on your instrument.",[964,1208,1210],{"id":1209},"basic-setup","Basic Setup",[1009,1212,1214],{"className":1011,"code":1213,"language":1013,"meta":1014,"style":1014},"from unitelabs.liquid_handling.hamilton import Vantage\nfrom unitelabs.labware import Standard96Plate\nfrom unitelabs.labware.hamilton import PLT_CAR_L5MD_A00\n\nvantage = Vantage(name=\"Hamilton Microlab Vantage\")\nawait vantage.configure()\nawait vantage.initialize()\n\nplate_carrier = PLT_CAR_L5MD_A00()\nplate = Standard96Plate()\nplate_carrier[0] = plate\nvantage.deck.add(plate_carrier, track=10)\n",[977,1215,1216,1226,1238,1250,1254,1275,1282,1290,1295,1306,1317,1333],{"__ignoreMap":1014},[1018,1217,1218,1220,1222,1224],{"class":1020,"line":1021},[1018,1219,1025],{"class":1024},[1018,1221,1029],{"class":1028},[1018,1223,1032],{"class":1024},[1018,1225,1035],{"class":1028},[1018,1227,1228,1230,1233,1235],{"class":1020,"line":1038},[1018,1229,1025],{"class":1024},[1018,1231,1232],{"class":1028}," unitelabs.labware ",[1018,1234,1032],{"class":1024},[1018,1236,1237],{"class":1028}," Standard96Plate\n",[1018,1239,1240,1242,1245,1247],{"class":1020,"line":1045},[1018,1241,1025],{"class":1024},[1018,1243,1244],{"class":1028}," unitelabs.labware.hamilton ",[1018,1246,1032],{"class":1024},[1018,1248,1249],{"class":1142}," PLT_CAR_L5MD_A00\n",[1018,1251,1252],{"class":1020,"line":1052},[1018,1253,1042],{"emptyLinePlaceholder":1041},[1018,1255,1256,1259,1261,1264,1267,1269,1273],{"class":1020,"line":1168},[1018,1257,1258],{"class":1028},"vantage ",[1018,1260,1126],{"class":1024},[1018,1262,1263],{"class":1028}," Vantage(",[1018,1265,1266],{"class":1122},"name",[1018,1268,1126],{"class":1024},[1018,1270,1272],{"class":1271},"sCx38","\"Hamilton Microlab Vantage\"",[1018,1274,1190],{"class":1028},[1018,1276,1277,1279],{"class":1020,"line":1187},[1018,1278,1114],{"class":1024},[1018,1280,1281],{"class":1028}," vantage.configure()\n",[1018,1283,1285,1287],{"class":1020,"line":1284},7,[1018,1286,1114],{"class":1024},[1018,1288,1289],{"class":1028}," vantage.initialize()\n",[1018,1291,1293],{"class":1020,"line":1292},8,[1018,1294,1042],{"emptyLinePlaceholder":1041},[1018,1296,1298,1301,1303],{"class":1020,"line":1297},9,[1018,1299,1300],{"class":1028},"plate_carrier ",[1018,1302,1126],{"class":1024},[1018,1304,1305],{"class":1028}," PLT_CAR_L5MD_A00()\n",[1018,1307,1309,1312,1314],{"class":1020,"line":1308},10,[1018,1310,1311],{"class":1028},"plate ",[1018,1313,1126],{"class":1024},[1018,1315,1316],{"class":1028}," Standard96Plate()\n",[1018,1318,1320,1322,1325,1328,1330],{"class":1020,"line":1319},11,[1018,1321,1139],{"class":1028},[1018,1323,1324],{"class":1142},"0",[1018,1326,1327],{"class":1028},"] ",[1018,1329,1126],{"class":1024},[1018,1331,1332],{"class":1028}," plate\n",[1018,1334,1336,1339,1342,1344,1347],{"class":1020,"line":1335},12,[1018,1337,1338],{"class":1028},"vantage.deck.add(plate_carrier, ",[1018,1340,1341],{"class":1122},"track",[1018,1343,1126],{"class":1024},[1018,1345,1346],{"class":1142},"10",[1018,1348,1190],{"class":1028},[964,1350,1352],{"id":1351},"labware-transport","Labware transport",[969,1354,1356],{"id":1355},"transfer-labware","Transfer Labware",[915,1358,1359,1361,1362,1085,1365,1368],{},[977,1360,1092],{}," is the most common IPG operation; it picks up labware from its current location and places it at a target carrier site in a single call. Minimally, only ",[977,1363,1364],{},"labware",[977,1366,1367],{},"target"," parameters are required:",[1009,1370,1372],{"className":1011,"code":1371,"language":1013,"meta":1014,"style":1014},"await vantage.ipg.transfer(\n    labware=plate,\n    target=plate_carrier[1],\n)\n",[977,1373,1374,1380,1388,1400],{"__ignoreMap":1014},[1018,1375,1376,1378],{"class":1020,"line":1021},[1018,1377,1114],{"class":1024},[1018,1379,1117],{"class":1028},[1018,1381,1382,1384,1386],{"class":1020,"line":1038},[1018,1383,1123],{"class":1122},[1018,1385,1126],{"class":1024},[1018,1387,1129],{"class":1028},[1018,1389,1390,1392,1394,1396,1398],{"class":1020,"line":1045},[1018,1391,1134],{"class":1122},[1018,1393,1126],{"class":1024},[1018,1395,1139],{"class":1028},[1018,1397,1143],{"class":1142},[1018,1399,1146],{"class":1028},[1018,1401,1402],{"class":1020,"line":1052},[1018,1403,1190],{"class":1028},[915,1405,1406,1407,1085,1409,1411,1412,1415],{},"To control approach and drop directions, the optional parameters ",[977,1408,1084],{},[977,1410,1088],{}," can be used (see ",[927,1413,996],{"href":1414},"#grip-direction","). This is important to avoid collisions with other deck components.",[1009,1417,1419],{"className":1011,"code":1418,"language":1013,"meta":1014,"style":1014},"await vantage.ipg.transfer(\n    labware=plate,\n    target=plate_carrier[1],\n    pick_up_direction=vantage.ipg.GripDirection.LR,\n    drop_direction=vantage.ipg.ArmPosition.LEFT,\n)\n",[977,1420,1421,1427,1435,1447,1461,1475],{"__ignoreMap":1014},[1018,1422,1423,1425],{"class":1020,"line":1021},[1018,1424,1114],{"class":1024},[1018,1426,1117],{"class":1028},[1018,1428,1429,1431,1433],{"class":1020,"line":1038},[1018,1430,1123],{"class":1122},[1018,1432,1126],{"class":1024},[1018,1434,1129],{"class":1028},[1018,1436,1437,1439,1441,1443,1445],{"class":1020,"line":1045},[1018,1438,1134],{"class":1122},[1018,1440,1126],{"class":1024},[1018,1442,1139],{"class":1028},[1018,1444,1143],{"class":1142},[1018,1446,1146],{"class":1028},[1018,1448,1449,1451,1453,1455,1458],{"class":1020,"line":1052},[1018,1450,1151],{"class":1122},[1018,1452,1126],{"class":1024},[1018,1454,1156],{"class":1028},[1018,1456,1457],{"class":1142},"LR",[1018,1459,1460],{"class":1028},",\n",[1018,1462,1463,1465,1467,1470,1473],{"class":1020,"line":1168},[1018,1464,1171],{"class":1122},[1018,1466,1126],{"class":1024},[1018,1468,1469],{"class":1028},"vantage.ipg.ArmPosition.",[1018,1471,1472],{"class":1142},"LEFT",[1018,1474,1460],{"class":1028},[1018,1476,1477],{"class":1020,"line":1187},[1018,1478,1190],{"class":1028},[915,1480,1481,1484,1485,1488],{},[977,1482,1483],{},"transfer_from()"," is a variant that takes a ",[977,1486,1487],{},"source"," carrier site instead of a labware reference — useful when you want to move whatever plate occupies a slot without holding a Python reference to it.",[1009,1490,1492],{"className":1011,"code":1491,"language":1013,"meta":1014,"style":1014},"await vantage.ipg.transfer_from(\n    source=plate_carrier[0],\n    target=plate_carrier[1],\n)\n",[977,1493,1494,1501,1514,1526],{"__ignoreMap":1014},[1018,1495,1496,1498],{"class":1020,"line":1021},[1018,1497,1114],{"class":1024},[1018,1499,1500],{"class":1028}," vantage.ipg.transfer_from(\n",[1018,1502,1503,1506,1508,1510,1512],{"class":1020,"line":1038},[1018,1504,1505],{"class":1122},"    source",[1018,1507,1126],{"class":1024},[1018,1509,1139],{"class":1028},[1018,1511,1324],{"class":1142},[1018,1513,1146],{"class":1028},[1018,1515,1516,1518,1520,1522,1524],{"class":1020,"line":1045},[1018,1517,1134],{"class":1122},[1018,1519,1126],{"class":1024},[1018,1521,1139],{"class":1028},[1018,1523,1143],{"class":1142},[1018,1525,1146],{"class":1028},[1018,1527,1528],{"class":1020,"line":1052},[1018,1529,1190],{"class":1028},[969,1531,1533],{"id":1532},"pick-up-and-put-down-separately","Pick Up and Put Down Separately",[915,1535,1536,1537,1085,1540,1542,1543,1545,1546,1548],{},"For more control, ",[977,1538,1539],{},"pick_up()",[977,1541,1100],{}," can be called independently. Use ",[977,1544,1096],{}," when working with a carrier site, or ",[977,1547,1539],{}," when you already hold a reference to the labware object.",[1009,1550,1552],{"className":1011,"code":1551,"language":1013,"meta":1014,"style":1014},"# Pick up from a carrier site\nawait vantage.ipg.pick_up_from(\n    source=plate_carrier[0],\n    pick_up_direction=vantage.ipg.GripDirection.RL,\n)\n\n# Pick up by labware reference\nawait vantage.ipg.pick_up(\n    labware=plate,\n    pick_up_direction=vantage.ipg.ArmPosition.RL,\n)\n\n# Put down onto a carrier site\nawait vantage.ipg.put_down(\n    target=plate_carrier[2],\n    drop_direction=vantage.ipg.GripDirection.RR,\n)\n",[977,1553,1554,1559,1566,1578,1590,1594,1598,1603,1610,1618,1630,1634,1638,1644,1652,1666,1680],{"__ignoreMap":1014},[1018,1555,1556],{"class":1020,"line":1021},[1018,1557,1558],{"class":1048},"# Pick up from a carrier site\n",[1018,1560,1561,1563],{"class":1020,"line":1038},[1018,1562,1114],{"class":1024},[1018,1564,1565],{"class":1028}," vantage.ipg.pick_up_from(\n",[1018,1567,1568,1570,1572,1574,1576],{"class":1020,"line":1045},[1018,1569,1505],{"class":1122},[1018,1571,1126],{"class":1024},[1018,1573,1139],{"class":1028},[1018,1575,1324],{"class":1142},[1018,1577,1146],{"class":1028},[1018,1579,1580,1582,1584,1586,1588],{"class":1020,"line":1052},[1018,1581,1151],{"class":1122},[1018,1583,1126],{"class":1024},[1018,1585,1156],{"class":1028},[1018,1587,1159],{"class":1142},[1018,1589,1460],{"class":1028},[1018,1591,1592],{"class":1020,"line":1168},[1018,1593,1190],{"class":1028},[1018,1595,1596],{"class":1020,"line":1187},[1018,1597,1042],{"emptyLinePlaceholder":1041},[1018,1599,1600],{"class":1020,"line":1284},[1018,1601,1602],{"class":1048},"# Pick up by labware reference\n",[1018,1604,1605,1607],{"class":1020,"line":1292},[1018,1606,1114],{"class":1024},[1018,1608,1609],{"class":1028}," vantage.ipg.pick_up(\n",[1018,1611,1612,1614,1616],{"class":1020,"line":1297},[1018,1613,1123],{"class":1122},[1018,1615,1126],{"class":1024},[1018,1617,1129],{"class":1028},[1018,1619,1620,1622,1624,1626,1628],{"class":1020,"line":1308},[1018,1621,1151],{"class":1122},[1018,1623,1126],{"class":1024},[1018,1625,1469],{"class":1028},[1018,1627,1159],{"class":1142},[1018,1629,1460],{"class":1028},[1018,1631,1632],{"class":1020,"line":1319},[1018,1633,1190],{"class":1028},[1018,1635,1636],{"class":1020,"line":1335},[1018,1637,1042],{"emptyLinePlaceholder":1041},[1018,1639,1641],{"class":1020,"line":1640},13,[1018,1642,1643],{"class":1048},"# Put down onto a carrier site\n",[1018,1645,1647,1649],{"class":1020,"line":1646},14,[1018,1648,1114],{"class":1024},[1018,1650,1651],{"class":1028}," vantage.ipg.put_down(\n",[1018,1653,1655,1657,1659,1661,1664],{"class":1020,"line":1654},15,[1018,1656,1134],{"class":1122},[1018,1658,1126],{"class":1024},[1018,1660,1139],{"class":1028},[1018,1662,1663],{"class":1142},"2",[1018,1665,1146],{"class":1028},[1018,1667,1669,1671,1673,1675,1678],{"class":1020,"line":1668},16,[1018,1670,1171],{"class":1122},[1018,1672,1126],{"class":1024},[1018,1674,1156],{"class":1028},[1018,1676,1677],{"class":1142},"RR",[1018,1679,1460],{"class":1028},[1018,1681,1683],{"class":1020,"line":1682},17,[1018,1684,1190],{"class":1028},[969,1686,1688],{"id":1687},"transfer-parameters","Transfer parameters",[915,1690,1691,1692,1085,1694,1696,1697,1093,1699,1085,1701,1703],{},"Parameters for ",[977,1693,1092],{},[977,1695,1483],{}," methods. ",[977,1698,1539],{},[977,1700,1096],{},[977,1702,1100],{}," use the relevant subset of these parameters.",[1705,1706,1707,1723],"table",{},[1708,1709,1710],"thead",{},[1711,1712,1713,1717,1720],"tr",{},[1714,1715,1716],"th",{},"Parameter",[1714,1718,1719],{},"Default",[1714,1721,1722],{},"Description",[1724,1725,1726,1750,1761,1784,1806,1821,1838,1854,1868,1883],"tbody",{},[1711,1727,1728,1736,1739],{},[1729,1730,1731,1733,1734],"td",{},[977,1732,1364],{}," \u002F ",[977,1735,1487],{},[1729,1737,1738],{},"—",[1729,1740,1741,1742,1745,1746,1749],{},"The labware object (",[977,1743,1744],{},"transfer",") or source carrier site (",[977,1747,1748],{},"transfer_from",") to pick up.",[1711,1751,1752,1756,1758],{},[1729,1753,1754],{},[977,1755,1367],{},[1729,1757,1738],{},[1729,1759,1760],{},"The carrier site or plate where to put the labware down.",[1711,1762,1763,1767,1771],{},[1729,1764,1765],{},[977,1766,1084],{},[1729,1768,1769],{},[977,1770,1077],{},[1729,1772,1773,1774,1776,1777,1780,1781,1783],{},"Approach direction for pick-up. Accepts ",[977,1775,1002],{}," (arm + gripper orientation), ",[977,1778,1779],{},"ArmPosition"," (arm only, gripper orientation preserved from hardware state), or ",[977,1782,1077],{}," (current direction used for both pick-up and drop).",[1711,1785,1786,1790,1794],{},[1729,1787,1788],{},[977,1789,1088],{},[1729,1791,1792],{},[977,1793,1077],{},[1729,1795,1796,1797,1799,1800,1802,1803,1805],{},"Approach direction for drop. Same options as ",[977,1798,1084],{},". Defaults to the resolved ",[977,1801,1084],{}," when ",[977,1804,1077],{},".",[1711,1807,1808,1813,1818],{},[1729,1809,1810],{},[977,1811,1812],{},"strength",[1729,1814,1815],{},[977,1816,1817],{},"100",[1729,1819,1820],{},"Grip strength in 0.1 N units (range 0–160, i.e. 0–16 N).",[1711,1822,1823,1828,1832],{},[1729,1824,1825],{},[977,1826,1827],{},"pick_up_offset",[1729,1829,1830],{},[977,1831,1077],{},[1729,1833,1834,1837],{},[977,1835,1836],{},"Vector(dx, dy, dz)"," offset in mm applied to the pick-up position.",[1711,1839,1840,1845,1849],{},[1729,1841,1842],{},[977,1843,1844],{},"drop_offset",[1729,1846,1847],{},[977,1848,1077],{},[1729,1850,1851,1853],{},[977,1852,1836],{}," offset in mm applied to the drop position.",[1711,1855,1856,1861,1865],{},[1729,1857,1858],{},[977,1859,1860],{},"width_offset",[1729,1862,1863],{},[977,1864,1324],{},[1729,1866,1867],{},"Offset in mm added to the grip width derived from the labware dimensions.",[1711,1869,1870,1875,1880],{},[1729,1871,1872],{},[977,1873,1874],{},"grip_gap",[1729,1876,1877],{},[977,1878,1879],{},"6",[1729,1881,1882],{},"Initial and final gap in mm between gripper in open state and labware.",[1711,1884,1885,1890,1894],{},[1729,1886,1887],{},[977,1888,1889],{},"min_traverse_height",[1729,1891,1892],{},[977,1893,1077],{},[1729,1895,1896],{},"Minimum safe traverse height in mm. Defaults to the system value.",[964,1898,1900],{"id":1899},"ipg-operations","IPG Operations",[969,1902,1904,1905],{"id":1903},"recovery-with-drop_labware","Recovery with ",[977,1906,1907],{},"drop_labware",[915,1909,1910,1913],{},[977,1911,1912],{},"drop_labware()"," was introduced in LHSDK version 0.30.0 and allows the user to discard the currently held labware at the current gripper location. It opens the gripper fingers by a small amount at a time and does not require the IPG to be initialized. Use to recover after a run abort that left a plate gripped in the IPG fingers. You might need to run the command multiple times, as it only opens gripper fingers a small amount at a time.",[1009,1915,1917],{"className":1011,"code":1916,"language":1013,"meta":1014,"style":1014},"dropped = await vantage.ipg.drop_labware()\n",[977,1918,1919],{"__ignoreMap":1014},[1018,1920,1921,1924,1926,1929],{"class":1020,"line":1021},[1018,1922,1923],{"class":1028},"dropped ",[1018,1925,1126],{"class":1024},[1018,1927,1928],{"class":1024}," await",[1018,1930,1931],{"class":1028}," vantage.ipg.drop_labware()\n",[919,1933,1934],{"color":1193,"icon":1194},[915,1935,1936,1938,1939,1805],{},[977,1937,1912],{}," releases the plate at whatever position the IPG is currently in and can result in spillage or sample loss. Only use it as a recovery action, not as a substitute for ",[977,1940,1100],{},[969,1942,1944],{"id":1943},"home-ipg","Home IPG",[915,1946,1947],{},"When you are done, using any other tool (e.g. the pipettes) will return the IPG back to its home position. You can also home IPG explicitly:",[1009,1949,1951],{"className":1011,"code":1950,"language":1013,"meta":1014,"style":1014},"await vantage.ipg.home()\n",[977,1952,1953],{"__ignoreMap":1014},[1018,1954,1955,1957],{"class":1020,"line":1021},[1018,1956,1114],{"class":1024},[1018,1958,1959],{"class":1028}," vantage.ipg.home()\n",[969,1961,1963],{"id":1962},"ipg-state","IPG State",[915,1965,1966],{},"Query the current hardware state of the IPG:",[1009,1968,1970],{"className":1011,"code":1969,"language":1013,"meta":1014,"style":1014},"await vantage.ipg.has_labware()        # True if the gripper is holding a plate\nawait vantage.ipg.current_location()   # Vector with the gripper center's absolute position\nawait vantage.ipg.current_direction()  # GripDirection the gripper is currently facing\nawait vantage.ipg.current_grip_width() # Current distance between gripper fingers in mm\n",[977,1971,1972,1982,1992,2002],{"__ignoreMap":1014},[1018,1973,1974,1976,1979],{"class":1020,"line":1021},[1018,1975,1114],{"class":1024},[1018,1977,1978],{"class":1028}," vantage.ipg.has_labware()        ",[1018,1980,1981],{"class":1048},"# True if the gripper is holding a plate\n",[1018,1983,1984,1986,1989],{"class":1020,"line":1038},[1018,1985,1114],{"class":1024},[1018,1987,1988],{"class":1028}," vantage.ipg.current_location()   ",[1018,1990,1991],{"class":1048},"# Vector with the gripper center's absolute position\n",[1018,1993,1994,1996,1999],{"class":1020,"line":1045},[1018,1995,1114],{"class":1024},[1018,1997,1998],{"class":1028}," vantage.ipg.current_direction()  ",[1018,2000,2001],{"class":1048},"# GripDirection the gripper is currently facing\n",[1018,2003,2004,2006,2009],{"class":1020,"line":1052},[1018,2005,1114],{"class":1024},[1018,2007,2008],{"class":1028}," vantage.ipg.current_grip_width() ",[1018,2010,2011],{"class":1048},"# Current distance between gripper fingers in mm\n",[969,2013,2015],{"id":2014},"ipg-positioning","IPG Positioning",[915,2017,2018,1085,2021,2024],{},[977,2019,2020],{},"move_to()",[977,2022,2023],{},"move_by()"," give direct control over the gripper position. The IPG must be active (i.e. holding labware or explicitly activated).",[1009,2026,2028],{"className":1011,"code":2027,"language":1013,"meta":1014,"style":1014},"from unitelabs.labware import Vector\n\nawait vantage.ipg.move_to(location=Vector(x=200, y=200, z=300))\nawait vantage.ipg.move_by(offset=Vector(x=10, y=0, z=0))\n",[977,2029,2030,2041,2045,2090],{"__ignoreMap":1014},[1018,2031,2032,2034,2036,2038],{"class":1020,"line":1021},[1018,2033,1025],{"class":1024},[1018,2035,1232],{"class":1028},[1018,2037,1032],{"class":1024},[1018,2039,2040],{"class":1028}," Vector\n",[1018,2042,2043],{"class":1020,"line":1038},[1018,2044,1042],{"emptyLinePlaceholder":1041},[1018,2046,2047,2049,2052,2055,2057,2060,2063,2065,2068,2070,2073,2075,2077,2079,2082,2084,2087],{"class":1020,"line":1045},[1018,2048,1114],{"class":1024},[1018,2050,2051],{"class":1028}," vantage.ipg.move_to(",[1018,2053,2054],{"class":1122},"location",[1018,2056,1126],{"class":1024},[1018,2058,2059],{"class":1028},"Vector(",[1018,2061,2062],{"class":1122},"x",[1018,2064,1126],{"class":1024},[1018,2066,2067],{"class":1142},"200",[1018,2069,1093],{"class":1028},[1018,2071,2072],{"class":1122},"y",[1018,2074,1126],{"class":1024},[1018,2076,2067],{"class":1142},[1018,2078,1093],{"class":1028},[1018,2080,2081],{"class":1122},"z",[1018,2083,1126],{"class":1024},[1018,2085,2086],{"class":1142},"300",[1018,2088,2089],{"class":1028},"))\n",[1018,2091,2092,2094,2097,2100,2102,2104,2106,2108,2110,2112,2114,2116,2118,2120,2122,2124,2126],{"class":1020,"line":1052},[1018,2093,1114],{"class":1024},[1018,2095,2096],{"class":1028}," vantage.ipg.move_by(",[1018,2098,2099],{"class":1122},"offset",[1018,2101,1126],{"class":1024},[1018,2103,2059],{"class":1028},[1018,2105,2062],{"class":1122},[1018,2107,1126],{"class":1024},[1018,2109,1346],{"class":1142},[1018,2111,1093],{"class":1028},[1018,2113,2072],{"class":1122},[1018,2115,1126],{"class":1024},[1018,2117,1324],{"class":1142},[1018,2119,1093],{"class":1028},[1018,2121,2081],{"class":1122},[1018,2123,1126],{"class":1024},[1018,2125,1324],{"class":1142},[1018,2127,2089],{"class":1028},[969,2129,2131],{"id":2130},"manual-gripper-width-control","Manual Gripper Width Control",[915,2133,2134],{},"Sometimes it is necessary to manually control the gripper fingers width, for example for teaching.",[915,2136,2137,1085,2140,2143,2144,1085,2147,2150],{},[977,2138,2139],{},"open_to()",[977,2141,2142],{},"close_to()"," move the gripper fingers to an absolute width. ",[977,2145,2146],{},"open_by()",[977,2148,2149],{},"close_by()"," move them relative to the current width.",[1009,2152,2154],{"className":1011,"code":2153,"language":1013,"meta":1014,"style":1014},"# Move fingers to an absolute width in mm\nawait vantage.ipg.open_to(110)\nawait vantage.ipg.close_to(100)\n\n# Move fingers relative to the current width\nawait vantage.ipg.open_by(10)\nawait vantage.ipg.close_by(10)\n",[977,2155,2156,2161,2173,2184,2188,2193,2204],{"__ignoreMap":1014},[1018,2157,2158],{"class":1020,"line":1021},[1018,2159,2160],{"class":1048},"# Move fingers to an absolute width in mm\n",[1018,2162,2163,2165,2168,2171],{"class":1020,"line":1038},[1018,2164,1114],{"class":1024},[1018,2166,2167],{"class":1028}," vantage.ipg.open_to(",[1018,2169,2170],{"class":1142},"110",[1018,2172,1190],{"class":1028},[1018,2174,2175,2177,2180,2182],{"class":1020,"line":1045},[1018,2176,1114],{"class":1024},[1018,2178,2179],{"class":1028}," vantage.ipg.close_to(",[1018,2181,1817],{"class":1142},[1018,2183,1190],{"class":1028},[1018,2185,2186],{"class":1020,"line":1052},[1018,2187,1042],{"emptyLinePlaceholder":1041},[1018,2189,2190],{"class":1020,"line":1168},[1018,2191,2192],{"class":1048},"# Move fingers relative to the current width\n",[1018,2194,2195,2197,2200,2202],{"class":1020,"line":1187},[1018,2196,1114],{"class":1024},[1018,2198,2199],{"class":1028}," vantage.ipg.open_by(",[1018,2201,1346],{"class":1142},[1018,2203,1190],{"class":1028},[1018,2205,2206,2208,2211,2213],{"class":1020,"line":1284},[1018,2207,1114],{"class":1024},[1018,2209,2210],{"class":1028}," vantage.ipg.close_by(",[1018,2212,1346],{"class":1142},[1018,2214,1190],{"class":1028},[915,2216,2217,2219,2220,2222,2223,2226,2227,2229],{},[977,2218,2139],{}," releases any labware currently held by the gripper. ",[977,2221,2142],{}," raises a ",[977,2224,2225],{},"RuntimeError"," if labware is currently held by the IPG. This prevents accidental damage to the IPG as the command performs an unconditional finger move without gripping logic. 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