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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":592,"body":911,"description":1657,"device":6,"extension":1658,"links":6,"meta":1659,"navigation":1660,"path":1661,"seo":1662,"stem":598,"type":14,"__hash__":1663},"docs\u002F06.liquid-handling-and-robots\u002F00.overview.md",{"type":912,"value":913,"toc":1650},"minimark",[914,918,931,953,958,968,1557,1561,1576,1580,1607,1611,1616,1620,1640,1646],[915,916,917],"p",{},"You already know your liquid handler. This tab shows how to drive it from Python with UniteLabs.",[915,919,920,921,924,925,927,928,930],{},"Before you start, your device should be connected and responding (",[922,923,446],"a",{"href":451},"), and\nthe labware you plan to use should exist as definitions (",[922,926,245],{"href":765},"). New to\nUniteLabs? ",[922,929,48],{"href":49}," builds the script below\none step at a time.",[932,933,936],"callout",{"color":934,"icon":935},"info","i-heroicons-information-circle",[915,937,938,939,943,944,947,948,952],{},"The code on this tab targets ",[940,941,942],"code",{},"unitelabs-liquid-handling"," 0.39 with ",[940,945,946],{},"unitelabs-labware"," 0.37. If an import fails, check your installed versions first: ",[922,949,951],{"href":950},"\u002Fget-started\u002Fsetup\u002Fsdk-installation\u002F#versions","Versions"," shows how.",[954,955,957],"h2",{"id":956},"what-a-script-looks-like","What a script looks like",[915,959,960,961,964,965,967],{},"A full transfer against the STAR simulator: tips, a trough, and a plate on 2 carriers, then 100 µL\ninto column 1. On hardware you connect a ",[940,962,963],{},"MicrolabSTAR"," instead of the mock (see\n",[922,966,617],{"href":618},"), and the deck and\npipetting code stay the same.",[969,970,975],"pre",{"className":971,"code":972,"language":973,"meta":974,"style":974},"language-python shiki shiki-themes github-light-high-contrast github-light-high-contrast github-dark-default","import asyncio\n\nfrom unitelabs.labware import PredefinedLiquids, Standard96Plate, StandardTrough\nfrom unitelabs.labware.hamilton import (\n    PLT_CAR_L5MD_A00,\n    TIP_CAR_480_A00,\n    HamiltonTip_300,\n    HamiltonTipRack_300,\n    LiquidClass,\n)\nfrom unitelabs.liquid_handling.testing import MicrolabSTARMock\n\n\nasync def run():\n    lh = MicrolabSTARMock()\n    await lh.configure()\n    await lh.initialize()\n\n    # Labware goes on carriers, carriers go on deck tracks\n    tip_rack = HamiltonTipRack_300(filled_with=HamiltonTip_300, identifier=\"tip_rack\")\n    plate = Standard96Plate(identifier=\"destination_plate\")\n    trough = StandardTrough(identifier=\"water_source\")\n    trough.containers[0].add_liquid(PredefinedLiquids.WATER, 150_000)  # 150 mL\n\n    tip_carrier = TIP_CAR_480_A00(identifier=\"tip_carrier\")\n    plate_carrier = PLT_CAR_L5MD_A00(identifier=\"plate_carrier\")\n    tip_carrier[0] = tip_rack\n    plate_carrier[0] = plate\n    plate_carrier[1] = trough\n    lh.deck.add(tip_carrier, track=7)\n    lh.deck.add(plate_carrier, track=1)\n\n    # 100 µL of water into column 1\n    water = LiquidClass.HamiltonTip_300_Water_DispenseJet_Empty()\n    await lh.pipettes.pick_up_tips_from(channels=range(8), rack=tip_rack)\n    await lh.pipettes.aspirate(source=trough, channels=range(8), volume=100, liquid_class=water)\n    await lh.pipettes.dispense(target=plate[\"A1\":\"H1\"], channels=range(8), volume=100, liquid_class=water)\n    await lh.pipettes.discard_tips(channels=range(8))\n\n\nasyncio.run(run())\n","python","",[940,976,977,990,997,1011,1024,1034,1042,1048,1054,1060,1066,1079,1084,1089,1105,1117,1126,1134,1139,1146,1177,1197,1217,1244,1249,1269,1289,1305,1320,1335,1351,1365,1370,1376,1387,1420,1466,1520,1541,1546,1551],{"__ignoreMap":974},[978,979,982,986],"span",{"class":980,"line":981},"line",1,[978,983,985],{"class":984},"sxkbv","import",[978,987,989],{"class":988},"sc-9e"," asyncio\n",[978,991,993],{"class":980,"line":992},2,[978,994,996],{"emptyLinePlaceholder":995},true,"\n",[978,998,1000,1003,1006,1008],{"class":980,"line":999},3,[978,1001,1002],{"class":984},"from",[978,1004,1005],{"class":988}," unitelabs.labware ",[978,1007,985],{"class":984},[978,1009,1010],{"class":988}," PredefinedLiquids, Standard96Plate, StandardTrough\n",[978,1012,1014,1016,1019,1021],{"class":980,"line":1013},4,[978,1015,1002],{"class":984},[978,1017,1018],{"class":988}," unitelabs.labware.hamilton ",[978,1020,985],{"class":984},[978,1022,1023],{"class":988}," (\n",[978,1025,1027,1031],{"class":980,"line":1026},5,[978,1028,1030],{"class":1029},"sOiAX","    PLT_CAR_L5MD_A00",[978,1032,1033],{"class":988},",\n",[978,1035,1037,1040],{"class":980,"line":1036},6,[978,1038,1039],{"class":1029},"    TIP_CAR_480_A00",[978,1041,1033],{"class":988},[978,1043,1045],{"class":980,"line":1044},7,[978,1046,1047],{"class":988},"    HamiltonTip_300,\n",[978,1049,1051],{"class":980,"line":1050},8,[978,1052,1053],{"class":988},"    HamiltonTipRack_300,\n",[978,1055,1057],{"class":980,"line":1056},9,[978,1058,1059],{"class":988},"    LiquidClass,\n",[978,1061,1063],{"class":980,"line":1062},10,[978,1064,1065],{"class":988},")\n",[978,1067,1069,1071,1074,1076],{"class":980,"line":1068},11,[978,1070,1002],{"class":984},[978,1072,1073],{"class":988}," unitelabs.liquid_handling.testing ",[978,1075,985],{"class":984},[978,1077,1078],{"class":988}," MicrolabSTARMock\n",[978,1080,1082],{"class":980,"line":1081},12,[978,1083,996],{"emptyLinePlaceholder":995},[978,1085,1087],{"class":980,"line":1086},13,[978,1088,996],{"emptyLinePlaceholder":995},[978,1090,1092,1095,1098,1102],{"class":980,"line":1091},14,[978,1093,1094],{"class":984},"async",[978,1096,1097],{"class":984}," def",[978,1099,1101],{"class":1100},"s4qFZ"," run",[978,1103,1104],{"class":988},"():\n",[978,1106,1108,1111,1114],{"class":980,"line":1107},15,[978,1109,1110],{"class":988},"    lh ",[978,1112,1113],{"class":984},"=",[978,1115,1116],{"class":988}," MicrolabSTARMock()\n",[978,1118,1120,1123],{"class":980,"line":1119},16,[978,1121,1122],{"class":984},"    await",[978,1124,1125],{"class":988}," lh.configure()\n",[978,1127,1129,1131],{"class":980,"line":1128},17,[978,1130,1122],{"class":984},[978,1132,1133],{"class":988}," lh.initialize()\n",[978,1135,1137],{"class":980,"line":1136},18,[978,1138,996],{"emptyLinePlaceholder":995},[978,1140,1142],{"class":980,"line":1141},19,[978,1143,1145],{"class":1144},"sIsDC","    # Labware goes on carriers, carriers go on deck tracks\n",[978,1147,1149,1152,1154,1157,1161,1163,1166,1169,1171,1175],{"class":980,"line":1148},20,[978,1150,1151],{"class":988},"    tip_rack ",[978,1153,1113],{"class":984},[978,1155,1156],{"class":988}," HamiltonTipRack_300(",[978,1158,1160],{"class":1159},"sNqAu","filled_with",[978,1162,1113],{"class":984},[978,1164,1165],{"class":988},"HamiltonTip_300, ",[978,1167,1168],{"class":1159},"identifier",[978,1170,1113],{"class":984},[978,1172,1174],{"class":1173},"sCx38","\"tip_rack\"",[978,1176,1065],{"class":988},[978,1178,1180,1183,1185,1188,1190,1192,1195],{"class":980,"line":1179},21,[978,1181,1182],{"class":988},"    plate ",[978,1184,1113],{"class":984},[978,1186,1187],{"class":988}," Standard96Plate(",[978,1189,1168],{"class":1159},[978,1191,1113],{"class":984},[978,1193,1194],{"class":1173},"\"destination_plate\"",[978,1196,1065],{"class":988},[978,1198,1200,1203,1205,1208,1210,1212,1215],{"class":980,"line":1199},22,[978,1201,1202],{"class":988},"    trough ",[978,1204,1113],{"class":984},[978,1206,1207],{"class":988}," StandardTrough(",[978,1209,1168],{"class":1159},[978,1211,1113],{"class":984},[978,1213,1214],{"class":1173},"\"water_source\"",[978,1216,1065],{"class":988},[978,1218,1220,1223,1226,1229,1232,1235,1238,1241],{"class":980,"line":1219},23,[978,1221,1222],{"class":988},"    trough.containers[",[978,1224,1225],{"class":1029},"0",[978,1227,1228],{"class":988},"].add_liquid(PredefinedLiquids.",[978,1230,1231],{"class":1029},"WATER",[978,1233,1234],{"class":988},", ",[978,1236,1237],{"class":1029},"150_000",[978,1239,1240],{"class":988},")  ",[978,1242,1243],{"class":1144},"# 150 mL\n",[978,1245,1247],{"class":980,"line":1246},24,[978,1248,996],{"emptyLinePlaceholder":995},[978,1250,1252,1255,1257,1260,1262,1264,1267],{"class":980,"line":1251},25,[978,1253,1254],{"class":988},"    tip_carrier ",[978,1256,1113],{"class":984},[978,1258,1259],{"class":988}," TIP_CAR_480_A00(",[978,1261,1168],{"class":1159},[978,1263,1113],{"class":984},[978,1265,1266],{"class":1173},"\"tip_carrier\"",[978,1268,1065],{"class":988},[978,1270,1272,1275,1277,1280,1282,1284,1287],{"class":980,"line":1271},26,[978,1273,1274],{"class":988},"    plate_carrier ",[978,1276,1113],{"class":984},[978,1278,1279],{"class":988}," PLT_CAR_L5MD_A00(",[978,1281,1168],{"class":1159},[978,1283,1113],{"class":984},[978,1285,1286],{"class":1173},"\"plate_carrier\"",[978,1288,1065],{"class":988},[978,1290,1292,1295,1297,1300,1302],{"class":980,"line":1291},27,[978,1293,1294],{"class":988},"    tip_carrier[",[978,1296,1225],{"class":1029},[978,1298,1299],{"class":988},"] ",[978,1301,1113],{"class":984},[978,1303,1304],{"class":988}," tip_rack\n",[978,1306,1308,1311,1313,1315,1317],{"class":980,"line":1307},28,[978,1309,1310],{"class":988},"    plate_carrier[",[978,1312,1225],{"class":1029},[978,1314,1299],{"class":988},[978,1316,1113],{"class":984},[978,1318,1319],{"class":988}," plate\n",[978,1321,1323,1325,1328,1330,1332],{"class":980,"line":1322},29,[978,1324,1310],{"class":988},[978,1326,1327],{"class":1029},"1",[978,1329,1299],{"class":988},[978,1331,1113],{"class":984},[978,1333,1334],{"class":988}," trough\n",[978,1336,1338,1341,1344,1346,1349],{"class":980,"line":1337},30,[978,1339,1340],{"class":988},"    lh.deck.add(tip_carrier, ",[978,1342,1343],{"class":1159},"track",[978,1345,1113],{"class":984},[978,1347,1348],{"class":1029},"7",[978,1350,1065],{"class":988},[978,1352,1354,1357,1359,1361,1363],{"class":980,"line":1353},31,[978,1355,1356],{"class":988},"    lh.deck.add(plate_carrier, ",[978,1358,1343],{"class":1159},[978,1360,1113],{"class":984},[978,1362,1327],{"class":1029},[978,1364,1065],{"class":988},[978,1366,1368],{"class":980,"line":1367},32,[978,1369,996],{"emptyLinePlaceholder":995},[978,1371,1373],{"class":980,"line":1372},33,[978,1374,1375],{"class":1144},"    # 100 µL of water into column 1\n",[978,1377,1379,1382,1384],{"class":980,"line":1378},34,[978,1380,1381],{"class":988},"    water ",[978,1383,1113],{"class":984},[978,1385,1386],{"class":988}," LiquidClass.HamiltonTip_300_Water_DispenseJet_Empty()\n",[978,1388,1390,1392,1395,1398,1400,1403,1406,1409,1412,1415,1417],{"class":980,"line":1389},35,[978,1391,1122],{"class":984},[978,1393,1394],{"class":988}," lh.pipettes.pick_up_tips_from(",[978,1396,1397],{"class":1159},"channels",[978,1399,1113],{"class":984},[978,1401,1402],{"class":1029},"range",[978,1404,1405],{"class":988},"(",[978,1407,1408],{"class":1029},"8",[978,1410,1411],{"class":988},"), ",[978,1413,1414],{"class":1159},"rack",[978,1416,1113],{"class":984},[978,1418,1419],{"class":988},"tip_rack)\n",[978,1421,1423,1425,1428,1431,1433,1436,1438,1440,1442,1444,1446,1448,1451,1453,1456,1458,1461,1463],{"class":980,"line":1422},36,[978,1424,1122],{"class":984},[978,1426,1427],{"class":988}," lh.pipettes.aspirate(",[978,1429,1430],{"class":1159},"source",[978,1432,1113],{"class":984},[978,1434,1435],{"class":988},"trough, ",[978,1437,1397],{"class":1159},[978,1439,1113],{"class":984},[978,1441,1402],{"class":1029},[978,1443,1405],{"class":988},[978,1445,1408],{"class":1029},[978,1447,1411],{"class":988},[978,1449,1450],{"class":1159},"volume",[978,1452,1113],{"class":984},[978,1454,1455],{"class":1029},"100",[978,1457,1234],{"class":988},[978,1459,1460],{"class":1159},"liquid_class",[978,1462,1113],{"class":984},[978,1464,1465],{"class":988},"water)\n",[978,1467,1469,1471,1474,1477,1479,1482,1485,1488,1491,1494,1496,1498,1500,1502,1504,1506,1508,1510,1512,1514,1516,1518],{"class":980,"line":1468},37,[978,1470,1122],{"class":984},[978,1472,1473],{"class":988}," lh.pipettes.dispense(",[978,1475,1476],{"class":1159},"target",[978,1478,1113],{"class":984},[978,1480,1481],{"class":988},"plate[",[978,1483,1484],{"class":1173},"\"A1\"",[978,1486,1487],{"class":988},":",[978,1489,1490],{"class":1173},"\"H1\"",[978,1492,1493],{"class":988},"], ",[978,1495,1397],{"class":1159},[978,1497,1113],{"class":984},[978,1499,1402],{"class":1029},[978,1501,1405],{"class":988},[978,1503,1408],{"class":1029},[978,1505,1411],{"class":988},[978,1507,1450],{"class":1159},[978,1509,1113],{"class":984},[978,1511,1455],{"class":1029},[978,1513,1234],{"class":988},[978,1515,1460],{"class":1159},[978,1517,1113],{"class":984},[978,1519,1465],{"class":988},[978,1521,1523,1525,1528,1530,1532,1534,1536,1538],{"class":980,"line":1522},38,[978,1524,1122],{"class":984},[978,1526,1527],{"class":988}," lh.pipettes.discard_tips(",[978,1529,1397],{"class":1159},[978,1531,1113],{"class":984},[978,1533,1402],{"class":1029},[978,1535,1405],{"class":988},[978,1537,1408],{"class":1029},[978,1539,1540],{"class":988},"))\n",[978,1542,1544],{"class":980,"line":1543},39,[978,1545,996],{"emptyLinePlaceholder":995},[978,1547,1549],{"class":980,"line":1548},40,[978,1550,996],{"emptyLinePlaceholder":995},[978,1552,1554],{"class":980,"line":1553},41,[978,1555,1556],{"class":988},"asyncio.run(run())\n",[954,1558,1560],{"id":1559},"build-the-deck","Build the deck",[1562,1563,1564,1570],"ul",{},[1565,1566,1567,1569],"li",{},[922,1568,604],{"href":605},": place carriers on tracks and\nlabware on carriers.",[1565,1571,1572,1575],{},[922,1573,1574],{"href":609},"Save and Load a Deck",": store a layout as JSON and\nreload it in every run.",[954,1577,1579],{"id":1578},"pipette","Pipette",[1562,1581,1582,1587,1592,1597,1602],{},[1565,1583,1584,1586],{},[922,1585,617],{"href":618},": aspirate and dispense on\nHamilton and Bravo.",[1565,1588,1589,1591],{},[922,1590,625],{"href":626},": pick up, return, and discard tips.",[1565,1593,1594,1596],{},[922,1595,364],{"href":629},": use the predefined classes or\nwrite your own.",[1565,1598,1599,1601],{},[922,1600,621],{"href":622},": parameter sets you\nreuse across steps.",[1565,1603,1604,1606],{},[922,1605,632],{"href":633},": move plates with\nwhichever gripper your device has.",[954,1608,1610],{"id":1609},"rehearse-in-simulation","Rehearse in simulation",[915,1612,1613,1615],{},[922,1614,376],{"href":636}," covers the mocks for the STAR, Vantage, Bravo,\nFreedom EVO, and Biomek. They track liquid in every well, so overfills and empty aspirations show up\nbefore the robot moves.",[954,1617,1619],{"id":1618},"your-device","Your device",[1621,1622,1623,1628,1631,1634,1637],"u-page-grid",{"cols":999},[1624,1625],"u-page-card",{"description":1626,"icon":1627,"title":639,"to":645},"Positioning, CO-RE gripper, iSWAP, TADM, autoload, waste block, and complex mixing.","i-lucide-cog",[1624,1629],{"description":1630,"icon":1627,"title":680,"to":686},"Waste, covers and lights, IDL loading, IPG plate handling, and the 5 mL XL channels.",[1624,1632],{"description":1633,"icon":1627,"title":705,"to":710},"Tips on the 96 head, pipetting with liquid classes, and the gripper.",[1624,1635],{"description":1636,"icon":1627,"title":722,"to":728},"Start FluentControl methods and send XML commands while they run.",[1624,1638],{"description":1639,"icon":1627,"title":739,"to":745},"Worktable and carriers, the MCA96 head, liquid classes, and the RoMa gripper.",[915,1641,1642,1643,1645],{},"The model behind all of this (how a deck becomes a tree of positions, how liquid classes and\nparameter sets split the work) lives in ",[922,1644,272],{"href":346},".",[1647,1648,1649],"style",{},"html pre.shiki code .sxkbv, html code.shiki .sxkbv{--shiki-light:#A0111F;--shiki-default:#A0111F;--shiki-dark:#FF7B72}html pre.shiki code .sc-9e, html code.shiki .sc-9e{--shiki-light:#0E1116;--shiki-default:#0E1116;--shiki-dark:#E6EDF3}html pre.shiki code .sOiAX, html code.shiki .sOiAX{--shiki-light:#023B95;--shiki-default:#023B95;--shiki-dark:#79C0FF}html pre.shiki code .s4qFZ, html code.shiki .s4qFZ{--shiki-light:#622CBC;--shiki-default:#622CBC;--shiki-dark:#D2A8FF}html pre.shiki code .sIsDC, html code.shiki .sIsDC{--shiki-light:#66707B;--shiki-default:#66707B;--shiki-dark:#8B949E}html pre.shiki code .sNqAu, html code.shiki .sNqAu{--shiki-light:#702C00;--shiki-default:#702C00;--shiki-dark:#FFA657}html pre.shiki code .sCx38, html code.shiki .sCx38{--shiki-light:#032563;--shiki-default:#032563;--shiki-dark:#A5D6FF}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);}",{"title":974,"searchDepth":981,"depth":992,"links":1651},[1652,1653,1654,1655,1656],{"id":956,"depth":992,"text":957},{"id":1559,"depth":992,"text":1560},{"id":1578,"depth":992,"text":1579},{"id":1609,"depth":992,"text":1610},{"id":1618,"depth":992,"text":1619},"Drive your liquid handler or robot from Python. Build the deck, pipette, rehearse in simulation, and use what's specific to your device.","md",{},{"title":194},"\u002Fliquid-handling-and-robots\u002Foverview",{"title":592,"description":1657},"zlchMwTFVzZOrw5hKX4BP216OF0LH4XmSMaDnxJ9Bow",[6,1665],{"title":604,"description":1666,"path":605},"Compose a deck from carriers and labware, configure track bounds, and place carriers at specific coordinates.",1791294183431]