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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":632,"body":911,"description":2485,"device":6,"extension":2486,"links":6,"meta":2487,"navigation":1000,"path":2488,"seo":2489,"stem":634,"type":24,"__hash__":2490},"docs\u002F06.liquid-handling-and-robots\u002F20.pipetting\u002F50.labware-transport.md",{"type":912,"value":913,"toc":2475},"minimark",[914,922,939,945,955,960,1165,1169,1400,1404,1608,1612,1927,1931,2150,2154,2157,2362,2366,2417,2421,2471],[915,916,917,918,921],"p",{},"See ",[919,920,349],"a",{"href":350}," for the module model and the comparison of the three transport mechanisms (reach, rotation, lifecycle). This guide covers the procedural API for each.",[915,923,924,925,928,929,928,932,928,935,938],{},"For deep-dive vendor detail: ",[919,926,927],{"href":649},"CO-RE Gripper",", ",[919,930,931],{"href":653},"iSWAP",[919,933,934],{"href":719},"Bravo Gripper",[919,936,937],{"href":698},"IPG",".",[915,940,941],{},[942,943,944],"strong",{},"Prerequisites",[946,947,948,952],"ul",{},[949,950,951],"li",{},"A running liquid handler connector connected to the UniteLabs platform",[949,953,954],{},"A plate or other labware on the deck",[956,957,959],"h2",{"id":958},"connect-to-the-device","Connect to the Device",[961,962,963,1045,1093],"tabs",{},[964,965,966],"div",{"label":927},[967,968,973],"pre",{"className":969,"code":970,"language":971,"meta":972,"style":972},"language-python shiki shiki-themes github-light-high-contrast github-light-high-contrast github-dark-default","from unitelabs.liquid_handling.hamilton import MicrolabSTAR\n\nhamilton = MicrolabSTAR(\n    name=\"Microlab STAR\",\n)\nawait hamilton.initialize()\n","python","",[974,975,976,995,1002,1014,1030,1036],"code",{"__ignoreMap":972},[977,978,981,985,989,992],"span",{"class":979,"line":980},"line",1,[977,982,984],{"class":983},"sxkbv","from",[977,986,988],{"class":987},"sc-9e"," unitelabs.liquid_handling.hamilton ",[977,990,991],{"class":983},"import",[977,993,994],{"class":987}," MicrolabSTAR\n",[977,996,998],{"class":979,"line":997},2,[977,999,1001],{"emptyLinePlaceholder":1000},true,"\n",[977,1003,1005,1008,1011],{"class":979,"line":1004},3,[977,1006,1007],{"class":987},"hamilton ",[977,1009,1010],{"class":983},"=",[977,1012,1013],{"class":987}," MicrolabSTAR(\n",[977,1015,1017,1021,1023,1027],{"class":979,"line":1016},4,[977,1018,1020],{"class":1019},"sNqAu","    name",[977,1022,1010],{"class":983},[977,1024,1026],{"class":1025},"sCx38","\"Microlab STAR\"",[977,1028,1029],{"class":987},",\n",[977,1031,1033],{"class":979,"line":1032},5,[977,1034,1035],{"class":987},")\n",[977,1037,1039,1042],{"class":979,"line":1038},6,[977,1040,1041],{"class":983},"await",[977,1043,1044],{"class":987}," hamilton.initialize()\n",[964,1046,1047],{"label":931},[967,1048,1049],{"className":969,"code":970,"language":971,"meta":972,"style":972},[974,1050,1051,1061,1065,1073,1083,1087],{"__ignoreMap":972},[977,1052,1053,1055,1057,1059],{"class":979,"line":980},[977,1054,984],{"class":983},[977,1056,988],{"class":987},[977,1058,991],{"class":983},[977,1060,994],{"class":987},[977,1062,1063],{"class":979,"line":997},[977,1064,1001],{"emptyLinePlaceholder":1000},[977,1066,1067,1069,1071],{"class":979,"line":1004},[977,1068,1007],{"class":987},[977,1070,1010],{"class":983},[977,1072,1013],{"class":987},[977,1074,1075,1077,1079,1081],{"class":979,"line":1016},[977,1076,1020],{"class":1019},[977,1078,1010],{"class":983},[977,1080,1026],{"class":1025},[977,1082,1029],{"class":987},[977,1084,1085],{"class":979,"line":1032},[977,1086,1035],{"class":987},[977,1088,1089,1091],{"class":979,"line":1038},[977,1090,1041],{"class":983},[977,1092,1044],{"class":987},[964,1094,1096],{"label":1095},"Bravo",[967,1097,1099],{"className":969,"code":1098,"language":971,"meta":972,"style":972},"from unitelabs.liquid_handling.agilent import Bravo\n\nbravo = Bravo(\n    name=\"Bravo\",\n)\nawait bravo.configure()\nawait bravo.initialize()\nawait bravo.activate()\n",[974,1100,1101,1113,1117,1127,1138,1142,1149,1157],{"__ignoreMap":972},[977,1102,1103,1105,1108,1110],{"class":979,"line":980},[977,1104,984],{"class":983},[977,1106,1107],{"class":987}," unitelabs.liquid_handling.agilent ",[977,1109,991],{"class":983},[977,1111,1112],{"class":987}," Bravo\n",[977,1114,1115],{"class":979,"line":997},[977,1116,1001],{"emptyLinePlaceholder":1000},[977,1118,1119,1122,1124],{"class":979,"line":1004},[977,1120,1121],{"class":987},"bravo ",[977,1123,1010],{"class":983},[977,1125,1126],{"class":987}," Bravo(\n",[977,1128,1129,1131,1133,1136],{"class":979,"line":1016},[977,1130,1020],{"class":1019},[977,1132,1010],{"class":983},[977,1134,1135],{"class":1025},"\"Bravo\"",[977,1137,1029],{"class":987},[977,1139,1140],{"class":979,"line":1032},[977,1141,1035],{"class":987},[977,1143,1144,1146],{"class":979,"line":1038},[977,1145,1041],{"class":983},[977,1147,1148],{"class":987}," bravo.configure()\n",[977,1150,1152,1154],{"class":979,"line":1151},7,[977,1153,1041],{"class":983},[977,1155,1156],{"class":987}," bravo.initialize()\n",[977,1158,1160,1162],{"class":979,"line":1159},8,[977,1161,1041],{"class":983},[977,1163,1164],{"class":987}," bravo.activate()\n",[956,1166,1168],{"id":1167},"arrange-the-deck","Arrange the Deck",[961,1170,1171,1270,1344],{},[964,1172,1173,1262],{"label":927},[967,1174,1176],{"className":969,"code":1175,"language":971,"meta":972,"style":972},"from unitelabs.labware import Standard96Plate\nfrom unitelabs.labware.hamilton import PLT_CAR_L5MD_A00\n\nplate_carrier = PLT_CAR_L5MD_A00()\nplate = Standard96Plate()\n\nplate_carrier[0] = plate\nhamilton.deck.add(plate_carrier, track=1)\n",[974,1177,1178,1190,1203,1207,1217,1227,1231,1247],{"__ignoreMap":972},[977,1179,1180,1182,1185,1187],{"class":979,"line":980},[977,1181,984],{"class":983},[977,1183,1184],{"class":987}," unitelabs.labware ",[977,1186,991],{"class":983},[977,1188,1189],{"class":987}," Standard96Plate\n",[977,1191,1192,1194,1197,1199],{"class":979,"line":997},[977,1193,984],{"class":983},[977,1195,1196],{"class":987}," unitelabs.labware.hamilton ",[977,1198,991],{"class":983},[977,1200,1202],{"class":1201},"sOiAX"," PLT_CAR_L5MD_A00\n",[977,1204,1205],{"class":979,"line":1004},[977,1206,1001],{"emptyLinePlaceholder":1000},[977,1208,1209,1212,1214],{"class":979,"line":1016},[977,1210,1211],{"class":987},"plate_carrier ",[977,1213,1010],{"class":983},[977,1215,1216],{"class":987}," PLT_CAR_L5MD_A00()\n",[977,1218,1219,1222,1224],{"class":979,"line":1032},[977,1220,1221],{"class":987},"plate ",[977,1223,1010],{"class":983},[977,1225,1226],{"class":987}," Standard96Plate()\n",[977,1228,1229],{"class":979,"line":1038},[977,1230,1001],{"emptyLinePlaceholder":1000},[977,1232,1233,1236,1239,1242,1244],{"class":979,"line":1151},[977,1234,1235],{"class":987},"plate_carrier[",[977,1237,1238],{"class":1201},"0",[977,1240,1241],{"class":987},"] ",[977,1243,1010],{"class":983},[977,1245,1246],{"class":987}," plate\n",[977,1248,1249,1252,1255,1257,1260],{"class":979,"line":1159},[977,1250,1251],{"class":987},"hamilton.deck.add(plate_carrier, ",[977,1253,1254],{"class":1019},"track",[977,1256,1010],{"class":983},[977,1258,1259],{"class":1201},"1",[977,1261,1035],{"class":987},[1263,1264,1267],"callout",{"color":1265,"icon":1266},"info","i-heroicons-information-circle",[915,1268,1269],{},"For testing you can leave the physical deck empty; only the CO-RE gripper paddles are required to run this guide without hardware errors.",[964,1271,1272],{"label":931},[967,1273,1274],{"className":969,"code":1175,"language":971,"meta":972,"style":972},[974,1275,1276,1286,1296,1300,1308,1316,1320,1332],{"__ignoreMap":972},[977,1277,1278,1280,1282,1284],{"class":979,"line":980},[977,1279,984],{"class":983},[977,1281,1184],{"class":987},[977,1283,991],{"class":983},[977,1285,1189],{"class":987},[977,1287,1288,1290,1292,1294],{"class":979,"line":997},[977,1289,984],{"class":983},[977,1291,1196],{"class":987},[977,1293,991],{"class":983},[977,1295,1202],{"class":1201},[977,1297,1298],{"class":979,"line":1004},[977,1299,1001],{"emptyLinePlaceholder":1000},[977,1301,1302,1304,1306],{"class":979,"line":1016},[977,1303,1211],{"class":987},[977,1305,1010],{"class":983},[977,1307,1216],{"class":987},[977,1309,1310,1312,1314],{"class":979,"line":1032},[977,1311,1221],{"class":987},[977,1313,1010],{"class":983},[977,1315,1226],{"class":987},[977,1317,1318],{"class":979,"line":1038},[977,1319,1001],{"emptyLinePlaceholder":1000},[977,1321,1322,1324,1326,1328,1330],{"class":979,"line":1151},[977,1323,1235],{"class":987},[977,1325,1238],{"class":1201},[977,1327,1241],{"class":987},[977,1329,1010],{"class":983},[977,1331,1246],{"class":987},[977,1333,1334,1336,1338,1340,1342],{"class":979,"line":1159},[977,1335,1251],{"class":987},[977,1337,1254],{"class":1019},[977,1339,1010],{"class":983},[977,1341,1259],{"class":1201},[977,1343,1035],{"class":987},[964,1345,1346],{"label":1095},[967,1347,1349],{"className":969,"code":1348,"language":971,"meta":972,"style":972},"from unitelabs.labware.plates import Standard96Plate\n\nplate = Standard96Plate(identifier=\"DestinationPlate_96Well\")\nbravo.deck.add(plate, location=5)\n",[974,1350,1351,1362,1366,1385],{"__ignoreMap":972},[977,1352,1353,1355,1358,1360],{"class":979,"line":980},[977,1354,984],{"class":983},[977,1356,1357],{"class":987}," unitelabs.labware.plates ",[977,1359,991],{"class":983},[977,1361,1189],{"class":987},[977,1363,1364],{"class":979,"line":997},[977,1365,1001],{"emptyLinePlaceholder":1000},[977,1367,1368,1370,1372,1375,1378,1380,1383],{"class":979,"line":1004},[977,1369,1221],{"class":987},[977,1371,1010],{"class":983},[977,1373,1374],{"class":987}," Standard96Plate(",[977,1376,1377],{"class":1019},"identifier",[977,1379,1010],{"class":983},[977,1381,1382],{"class":1025},"\"DestinationPlate_96Well\"",[977,1384,1035],{"class":987},[977,1386,1387,1390,1393,1395,1398],{"class":979,"line":1016},[977,1388,1389],{"class":987},"bravo.deck.add(plate, ",[977,1391,1392],{"class":1019},"location",[977,1394,1010],{"class":983},[977,1396,1397],{"class":1201},"5",[977,1399,1035],{"class":987},[956,1401,1403],{"id":1402},"set-up-the-transport-module","Set Up the Transport Module",[961,1405,1406,1571,1596],{},[964,1407,1408,1411,1566],{"label":927},[915,1409,1410],{},"The CO-RE gripper paddle storage location varies by setup. Configure the locations and channel indices that correspond to your instrument, then pick up the paddles. Two consecutive channels must be used to pick up the paddles.",[967,1412,1414],{"className":969,"code":1413,"language":971,"meta":972,"style":972},"from unitelabs.labware import Vector\n\ncore_gripper_locations = (\n    Vector(x=796, y=105, z=225),\n    Vector(x=796, y=79, z=225),\n)\n\nawait hamilton.core_gripper.configure(\n    park_location=core_gripper_locations,\n    channels=(6, 7),\n)\nawait hamilton.core_gripper.pick_up_gripper()\n",[974,1415,1416,1427,1431,1441,1477,1506,1510,1514,1521,1532,1553,1558],{"__ignoreMap":972},[977,1417,1418,1420,1422,1424],{"class":979,"line":980},[977,1419,984],{"class":983},[977,1421,1184],{"class":987},[977,1423,991],{"class":983},[977,1425,1426],{"class":987}," Vector\n",[977,1428,1429],{"class":979,"line":997},[977,1430,1001],{"emptyLinePlaceholder":1000},[977,1432,1433,1436,1438],{"class":979,"line":1004},[977,1434,1435],{"class":987},"core_gripper_locations ",[977,1437,1010],{"class":983},[977,1439,1440],{"class":987}," (\n",[977,1442,1443,1446,1449,1451,1454,1456,1459,1461,1464,1466,1469,1471,1474],{"class":979,"line":1016},[977,1444,1445],{"class":987},"    Vector(",[977,1447,1448],{"class":1019},"x",[977,1450,1010],{"class":983},[977,1452,1453],{"class":1201},"796",[977,1455,928],{"class":987},[977,1457,1458],{"class":1019},"y",[977,1460,1010],{"class":983},[977,1462,1463],{"class":1201},"105",[977,1465,928],{"class":987},[977,1467,1468],{"class":1019},"z",[977,1470,1010],{"class":983},[977,1472,1473],{"class":1201},"225",[977,1475,1476],{"class":987},"),\n",[977,1478,1479,1481,1483,1485,1487,1489,1491,1493,1496,1498,1500,1502,1504],{"class":979,"line":1032},[977,1480,1445],{"class":987},[977,1482,1448],{"class":1019},[977,1484,1010],{"class":983},[977,1486,1453],{"class":1201},[977,1488,928],{"class":987},[977,1490,1458],{"class":1019},[977,1492,1010],{"class":983},[977,1494,1495],{"class":1201},"79",[977,1497,928],{"class":987},[977,1499,1468],{"class":1019},[977,1501,1010],{"class":983},[977,1503,1473],{"class":1201},[977,1505,1476],{"class":987},[977,1507,1508],{"class":979,"line":1038},[977,1509,1035],{"class":987},[977,1511,1512],{"class":979,"line":1151},[977,1513,1001],{"emptyLinePlaceholder":1000},[977,1515,1516,1518],{"class":979,"line":1159},[977,1517,1041],{"class":983},[977,1519,1520],{"class":987}," hamilton.core_gripper.configure(\n",[977,1522,1524,1527,1529],{"class":979,"line":1523},9,[977,1525,1526],{"class":1019},"    park_location",[977,1528,1010],{"class":983},[977,1530,1531],{"class":987},"core_gripper_locations,\n",[977,1533,1535,1538,1540,1543,1546,1548,1551],{"class":979,"line":1534},10,[977,1536,1537],{"class":1019},"    channels",[977,1539,1010],{"class":983},[977,1541,1542],{"class":987},"(",[977,1544,1545],{"class":1201},"6",[977,1547,928],{"class":987},[977,1549,1550],{"class":1201},"7",[977,1552,1476],{"class":987},[977,1554,1556],{"class":979,"line":1555},11,[977,1557,1035],{"class":987},[977,1559,1561,1563],{"class":979,"line":1560},12,[977,1562,1041],{"class":983},[977,1564,1565],{"class":987}," hamilton.core_gripper.pick_up_gripper()\n",[1263,1567,1568],{"color":1265,"icon":1266},[915,1569,1570],{},"Use a teaching needle to find the exact pickup coordinates for your setup.",[964,1572,1573,1580],{"label":931},[915,1574,1575,1576,1579],{},"The iSWAP module deactivates other tools automatically before any operation. An explicit ",[974,1577,1578],{},"activate()"," is optional since SDK ≥ 0.2.1.",[967,1581,1583],{"className":969,"code":1582,"language":971,"meta":972,"style":972},"await hamilton.iswap.activate()  # optional\n",[974,1584,1585],{"__ignoreMap":972},[977,1586,1587,1589,1592],{"class":979,"line":980},[977,1588,1041],{"class":983},[977,1590,1591],{"class":987}," hamilton.iswap.activate()  ",[977,1593,1595],{"class":1594},"sIsDC","# optional\n",[964,1597,1598,1601],{"label":1095},[915,1599,1600],{},"No setup required; the Bravo gripper is always available.",[1263,1602,1605],{"color":1603,"icon":1604},"warning","i-heroicons-exclamation-triangle",[915,1606,1607],{},"The gripper and pipette head are mutually exclusive. Tips must be discarded before using the gripper. The SDK raises an error if you attempt to activate the gripper while tips are mounted.",[956,1609,1611],{"id":1610},"pick-up-labware","Pick Up Labware",[961,1613,1614,1734,1863],{},[964,1615,1616,1689,1696,1699],{"label":927},[967,1617,1619],{"className":969,"code":1618,"language":971,"meta":972,"style":972},"await hamilton.core_gripper.pick_up_from(\n    plate_carrier[0],\n    strength=30,       # grip pressure 0–99\n    move_speed=128.7,  # mm\u002Fs on z-axis\n    close_speed=277.8, # mm\u002Fs closing gripper\n)\n",[974,1620,1621,1628,1638,1654,1670,1685],{"__ignoreMap":972},[977,1622,1623,1625],{"class":979,"line":980},[977,1624,1041],{"class":983},[977,1626,1627],{"class":987}," hamilton.core_gripper.pick_up_from(\n",[977,1629,1630,1633,1635],{"class":979,"line":997},[977,1631,1632],{"class":987},"    plate_carrier[",[977,1634,1238],{"class":1201},[977,1636,1637],{"class":987},"],\n",[977,1639,1640,1643,1645,1648,1651],{"class":979,"line":1004},[977,1641,1642],{"class":1019},"    strength",[977,1644,1010],{"class":983},[977,1646,1647],{"class":1201},"30",[977,1649,1650],{"class":987},",       ",[977,1652,1653],{"class":1594},"# grip pressure 0–99\n",[977,1655,1656,1659,1661,1664,1667],{"class":979,"line":1016},[977,1657,1658],{"class":1019},"    move_speed",[977,1660,1010],{"class":983},[977,1662,1663],{"class":1201},"128.7",[977,1665,1666],{"class":987},",  ",[977,1668,1669],{"class":1594},"# mm\u002Fs on z-axis\n",[977,1671,1672,1675,1677,1680,1682],{"class":979,"line":1032},[977,1673,1674],{"class":1019},"    close_speed",[977,1676,1010],{"class":983},[977,1678,1679],{"class":1201},"277.8",[977,1681,928],{"class":987},[977,1683,1684],{"class":1594},"# mm\u002Fs closing gripper\n",[977,1686,1687],{"class":979,"line":1038},[977,1688,1035],{"class":987},[915,1690,1691,1692,1695],{},"Further parameters such as grip width and grip height are determined based on the definition of the labware that is being picked up. See the ",[919,1693,1694],{"href":649},"CO-RE gripper guide"," for a full list of available parameters.",[915,1697,1698],{},"Verify the carrier site is now empty and the gripper holds the plate:",[967,1700,1702],{"className":969,"code":1701,"language":971,"meta":972,"style":972},"assert plate_carrier[0].get() == None\nassert hamilton.core_gripper.get() == plate\n",[974,1703,1704,1723],{"__ignoreMap":972},[977,1705,1706,1709,1712,1714,1717,1720],{"class":979,"line":980},[977,1707,1708],{"class":983},"assert",[977,1710,1711],{"class":987}," plate_carrier[",[977,1713,1238],{"class":1201},[977,1715,1716],{"class":987},"].get() ",[977,1718,1719],{"class":983},"==",[977,1721,1722],{"class":1201}," None\n",[977,1724,1725,1727,1730,1732],{"class":979,"line":997},[977,1726,1708],{"class":983},[977,1728,1729],{"class":987}," hamilton.core_gripper.get() ",[977,1731,1719],{"class":983},[977,1733,1246],{"class":987},[964,1735,1736,1800,1805,1808,1838],{"label":931},[967,1737,1739],{"className":969,"code":1738,"language":971,"meta":972,"style":972},"from unitelabs.liquid_handling.hamilton import Direction\n\nawait hamilton.iswap.pick_up_from(\n    plate_carrier[0],\n    pick_up_direction=Direction.LEFT,\n    strength=30,\n)\n",[974,1740,1741,1752,1756,1763,1771,1786,1796],{"__ignoreMap":972},[977,1742,1743,1745,1747,1749],{"class":979,"line":980},[977,1744,984],{"class":983},[977,1746,988],{"class":987},[977,1748,991],{"class":983},[977,1750,1751],{"class":987}," Direction\n",[977,1753,1754],{"class":979,"line":997},[977,1755,1001],{"emptyLinePlaceholder":1000},[977,1757,1758,1760],{"class":979,"line":1004},[977,1759,1041],{"class":983},[977,1761,1762],{"class":987}," hamilton.iswap.pick_up_from(\n",[977,1764,1765,1767,1769],{"class":979,"line":1016},[977,1766,1632],{"class":987},[977,1768,1238],{"class":1201},[977,1770,1637],{"class":987},[977,1772,1773,1776,1778,1781,1784],{"class":979,"line":1032},[977,1774,1775],{"class":1019},"    pick_up_direction",[977,1777,1010],{"class":983},[977,1779,1780],{"class":987},"Direction.",[977,1782,1783],{"class":1201},"LEFT",[977,1785,1029],{"class":987},[977,1787,1788,1790,1792,1794],{"class":979,"line":1038},[977,1789,1642],{"class":1019},[977,1791,1010],{"class":983},[977,1793,1647],{"class":1201},[977,1795,1029],{"class":987},[977,1797,1798],{"class":979,"line":1151},[977,1799,1035],{"class":987},[915,1801,1691,1802,1695],{},[919,1803,1804],{"href":653},"iSWAP guide",[915,1806,1807],{},"Verify:",[967,1809,1811],{"className":969,"code":1810,"language":971,"meta":972,"style":972},"assert plate_carrier[0].get() == None\nassert hamilton.iswap.get() == plate\n",[974,1812,1813,1827],{"__ignoreMap":972},[977,1814,1815,1817,1819,1821,1823,1825],{"class":979,"line":980},[977,1816,1708],{"class":983},[977,1818,1711],{"class":987},[977,1820,1238],{"class":1201},[977,1822,1716],{"class":987},[977,1824,1719],{"class":983},[977,1826,1722],{"class":1201},[977,1828,1829,1831,1834,1836],{"class":979,"line":997},[977,1830,1708],{"class":983},[977,1832,1833],{"class":987}," hamilton.iswap.get() ",[977,1835,1719],{"class":983},[977,1837,1246],{"class":987},[1263,1839,1840],{"color":1265,"icon":1266},[915,1841,1842,1845,1846,928,1849,928,1852,1855,1856,1858,1859,1862],{},[974,1843,1844],{},"Direction"," defines which side the iSWAP arm approaches from: ",[974,1847,1848],{},"FRONT",[974,1850,1851],{},"RIGHT",[974,1853,1854],{},"BACK",", or ",[974,1857,1783],{},". When omitted, the iSWAP uses its current orientation. See the ",[919,1860,1861],{"href":653},"iSWAP vendor guide"," for details on the positional reference frame.",[964,1864,1865,1868,1880,1882,1909],{"label":1095},[915,1866,1867],{},"Pass the labware object directly. The gripper moves to the plate's current deck location.",[967,1869,1871],{"className":969,"code":1870,"language":971,"meta":972,"style":972},"await bravo.gripper.pick_up(plate)\n",[974,1872,1873],{"__ignoreMap":972},[977,1874,1875,1877],{"class":979,"line":980},[977,1876,1041],{"class":983},[977,1878,1879],{"class":987}," bravo.gripper.pick_up(plate)\n",[915,1881,1807],{},[967,1883,1885],{"className":969,"code":1884,"language":971,"meta":972,"style":972},"assert bravo.deck.is_location_empty(5)\nassert bravo.gripper.get() == plate\n",[974,1886,1887,1898],{"__ignoreMap":972},[977,1888,1889,1891,1894,1896],{"class":979,"line":980},[977,1890,1708],{"class":983},[977,1892,1893],{"class":987}," bravo.deck.is_location_empty(",[977,1895,1397],{"class":1201},[977,1897,1035],{"class":987},[977,1899,1900,1902,1905,1907],{"class":979,"line":997},[977,1901,1708],{"class":983},[977,1903,1904],{"class":987}," bravo.gripper.get() ",[977,1906,1719],{"class":983},[977,1908,1246],{"class":987},[915,1910,1911,1912,928,1915,928,1918,928,1921,928,1924,938],{},"Optional parameters: ",[974,1913,1914],{},"grip_gap",[974,1916,1917],{},"width_offset",[974,1919,1920],{},"movement_velocity",[974,1922,1923],{},"gripper_velocity",[974,1925,1926],{},"pick_up_offset",[956,1928,1930],{"id":1929},"put-down-labware","Put Down Labware",[961,1932,1933,2024,2096],{},[964,1934,1935,1938,1995],{"label":927},[915,1936,1937],{},"Labware can only be placed on carrier sites.",[967,1939,1941],{"className":969,"code":1940,"language":971,"meta":972,"style":972},"await hamilton.core_gripper.put_down(\n    carrier_site=plate_carrier[4],\n    pressure=0,        # pressure on bottom\n    move_speed=128.7,  # mm\u002Fs on z-axis\n)\n",[974,1942,1943,1950,1964,1979,1991],{"__ignoreMap":972},[977,1944,1945,1947],{"class":979,"line":980},[977,1946,1041],{"class":983},[977,1948,1949],{"class":987}," hamilton.core_gripper.put_down(\n",[977,1951,1952,1955,1957,1959,1962],{"class":979,"line":997},[977,1953,1954],{"class":1019},"    carrier_site",[977,1956,1010],{"class":983},[977,1958,1235],{"class":987},[977,1960,1961],{"class":1201},"4",[977,1963,1637],{"class":987},[977,1965,1966,1969,1971,1973,1976],{"class":979,"line":1004},[977,1967,1968],{"class":1019},"    pressure",[977,1970,1010],{"class":983},[977,1972,1238],{"class":1201},[977,1974,1975],{"class":987},",        ",[977,1977,1978],{"class":1594},"# pressure on bottom\n",[977,1980,1981,1983,1985,1987,1989],{"class":979,"line":1016},[977,1982,1658],{"class":1019},[977,1984,1010],{"class":983},[977,1986,1663],{"class":1201},[977,1988,1666],{"class":987},[977,1990,1669],{"class":1594},[977,1992,1993],{"class":979,"line":1032},[977,1994,1035],{"class":987},[967,1996,1998],{"className":969,"code":1997,"language":971,"meta":972,"style":972},"assert hamilton.core_gripper.get() == None\nassert plate_carrier[4].get() == plate\n",[974,1999,2000,2010],{"__ignoreMap":972},[977,2001,2002,2004,2006,2008],{"class":979,"line":980},[977,2003,1708],{"class":983},[977,2005,1729],{"class":987},[977,2007,1719],{"class":983},[977,2009,1722],{"class":1201},[977,2011,2012,2014,2016,2018,2020,2022],{"class":979,"line":997},[977,2013,1708],{"class":983},[977,2015,1711],{"class":987},[977,2017,1961],{"class":1201},[977,2019,1716],{"class":987},[977,2021,1719],{"class":983},[977,2023,1246],{"class":987},[964,2025,2026,2067],{"label":931},[967,2027,2029],{"className":969,"code":2028,"language":971,"meta":972,"style":972},"await hamilton.iswap.put_down(\n    carrier_site=plate_carrier[4],\n    drop_direction=Direction.LEFT,\n)\n",[974,2030,2031,2038,2050,2063],{"__ignoreMap":972},[977,2032,2033,2035],{"class":979,"line":980},[977,2034,1041],{"class":983},[977,2036,2037],{"class":987}," hamilton.iswap.put_down(\n",[977,2039,2040,2042,2044,2046,2048],{"class":979,"line":997},[977,2041,1954],{"class":1019},[977,2043,1010],{"class":983},[977,2045,1235],{"class":987},[977,2047,1961],{"class":1201},[977,2049,1637],{"class":987},[977,2051,2052,2055,2057,2059,2061],{"class":979,"line":1004},[977,2053,2054],{"class":1019},"    drop_direction",[977,2056,1010],{"class":983},[977,2058,1780],{"class":987},[977,2060,1783],{"class":1201},[977,2062,1029],{"class":987},[977,2064,2065],{"class":979,"line":1016},[977,2066,1035],{"class":987},[967,2068,2070],{"className":969,"code":2069,"language":971,"meta":972,"style":972},"assert hamilton.iswap.get() == None\nassert plate_carrier[4].get() == plate\n",[974,2071,2072,2082],{"__ignoreMap":972},[977,2073,2074,2076,2078,2080],{"class":979,"line":980},[977,2075,1708],{"class":983},[977,2077,1833],{"class":987},[977,2079,1719],{"class":983},[977,2081,1722],{"class":1201},[977,2083,2084,2086,2088,2090,2092,2094],{"class":979,"line":997},[977,2085,1708],{"class":983},[977,2087,1711],{"class":987},[977,2089,1961],{"class":1201},[977,2091,1716],{"class":987},[977,2093,1719],{"class":983},[977,2095,1246],{"class":987},[964,2097,2098,2101,2118],{"label":1095},[915,2099,2100],{},"Pass the target deck site.",[967,2102,2104],{"className":969,"code":2103,"language":971,"meta":972,"style":972},"await bravo.gripper.put_down(bravo.deck[7])\n",[974,2105,2106],{"__ignoreMap":972},[977,2107,2108,2110,2113,2115],{"class":979,"line":980},[977,2109,1041],{"class":983},[977,2111,2112],{"class":987}," bravo.gripper.put_down(bravo.deck[",[977,2114,1550],{"class":1201},[977,2116,2117],{"class":987},"])\n",[967,2119,2121],{"className":969,"code":2120,"language":971,"meta":972,"style":972},"assert bravo.gripper.get() is None\nassert bravo.deck.get_labware_at_location(7) == plate\n",[974,2122,2123,2134],{"__ignoreMap":972},[977,2124,2125,2127,2129,2132],{"class":979,"line":980},[977,2126,1708],{"class":983},[977,2128,1904],{"class":987},[977,2130,2131],{"class":983},"is",[977,2133,1722],{"class":1201},[977,2135,2136,2138,2141,2143,2146,2148],{"class":979,"line":997},[977,2137,1708],{"class":983},[977,2139,2140],{"class":987}," bravo.deck.get_labware_at_location(",[977,2142,1550],{"class":1201},[977,2144,2145],{"class":987},") ",[977,2147,1719],{"class":983},[977,2149,1246],{"class":987},[956,2151,2153],{"id":2152},"transfer-shorthand","Transfer Shorthand",[915,2155,2156],{},"Combine pick-up and put-down in a single call.",[961,2158,2159,2175,2286],{},[964,2160,2161],{"label":927},[915,2162,2163,2164,2167,2168,2171,2172,938],{},"The CO-RE gripper does not have a dedicated ",[974,2165,2166],{},"transfer"," method. Use ",[974,2169,2170],{},"pick_up_from"," followed by ",[974,2173,2174],{},"put_down",[964,2176,2177],{"label":931},[967,2178,2180],{"className":969,"code":2179,"language":971,"meta":972,"style":972},"# Transfer labware to a carrier site\nawait hamilton.iswap.transfer(\n    plate,\n    target=plate_carrier[4],\n    pick_up_direction=Direction.LEFT,\n    drop_direction=Direction.LEFT,\n)\n\n# Transfer between two sites without a labware reference\nawait hamilton.iswap.transfer_from(\n    source=plate_carrier[0],\n    target=plate_carrier[4],\n)\n",[974,2181,2182,2187,2194,2199,2212,2224,2236,2240,2244,2249,2256,2269,2281],{"__ignoreMap":972},[977,2183,2184],{"class":979,"line":980},[977,2185,2186],{"class":1594},"# Transfer labware to a carrier site\n",[977,2188,2189,2191],{"class":979,"line":997},[977,2190,1041],{"class":983},[977,2192,2193],{"class":987}," hamilton.iswap.transfer(\n",[977,2195,2196],{"class":979,"line":1004},[977,2197,2198],{"class":987},"    plate,\n",[977,2200,2201,2204,2206,2208,2210],{"class":979,"line":1016},[977,2202,2203],{"class":1019},"    target",[977,2205,1010],{"class":983},[977,2207,1235],{"class":987},[977,2209,1961],{"class":1201},[977,2211,1637],{"class":987},[977,2213,2214,2216,2218,2220,2222],{"class":979,"line":1032},[977,2215,1775],{"class":1019},[977,2217,1010],{"class":983},[977,2219,1780],{"class":987},[977,2221,1783],{"class":1201},[977,2223,1029],{"class":987},[977,2225,2226,2228,2230,2232,2234],{"class":979,"line":1038},[977,2227,2054],{"class":1019},[977,2229,1010],{"class":983},[977,2231,1780],{"class":987},[977,2233,1783],{"class":1201},[977,2235,1029],{"class":987},[977,2237,2238],{"class":979,"line":1151},[977,2239,1035],{"class":987},[977,2241,2242],{"class":979,"line":1159},[977,2243,1001],{"emptyLinePlaceholder":1000},[977,2245,2246],{"class":979,"line":1523},[977,2247,2248],{"class":1594},"# Transfer between two sites without a labware reference\n",[977,2250,2251,2253],{"class":979,"line":1534},[977,2252,1041],{"class":983},[977,2254,2255],{"class":987}," hamilton.iswap.transfer_from(\n",[977,2257,2258,2261,2263,2265,2267],{"class":979,"line":1555},[977,2259,2260],{"class":1019},"    source",[977,2262,1010],{"class":983},[977,2264,1235],{"class":987},[977,2266,1238],{"class":1201},[977,2268,1637],{"class":987},[977,2270,2271,2273,2275,2277,2279],{"class":979,"line":1560},[977,2272,2203],{"class":1019},[977,2274,1010],{"class":983},[977,2276,1235],{"class":987},[977,2278,1961],{"class":1201},[977,2280,1637],{"class":987},[977,2282,2284],{"class":979,"line":2283},13,[977,2285,1035],{"class":987},[964,2287,2288],{"label":1095},[967,2289,2291],{"className":969,"code":2290,"language":971,"meta":972,"style":972},"# Transfer labware to another deck location\nawait bravo.gripper.transfer(plate, target=bravo.deck[1])\n\n# Transfer between deck sites without a labware reference\nawait bravo.gripper.transfer_from(\n    source=bravo.deck[1],\n    target=bravo.deck[9],\n)\n",[974,2292,2293,2298,2317,2321,2326,2333,2345,2358],{"__ignoreMap":972},[977,2294,2295],{"class":979,"line":980},[977,2296,2297],{"class":1594},"# Transfer labware to another deck location\n",[977,2299,2300,2302,2305,2308,2310,2313,2315],{"class":979,"line":997},[977,2301,1041],{"class":983},[977,2303,2304],{"class":987}," bravo.gripper.transfer(plate, ",[977,2306,2307],{"class":1019},"target",[977,2309,1010],{"class":983},[977,2311,2312],{"class":987},"bravo.deck[",[977,2314,1259],{"class":1201},[977,2316,2117],{"class":987},[977,2318,2319],{"class":979,"line":1004},[977,2320,1001],{"emptyLinePlaceholder":1000},[977,2322,2323],{"class":979,"line":1016},[977,2324,2325],{"class":1594},"# Transfer between deck sites without a labware reference\n",[977,2327,2328,2330],{"class":979,"line":1032},[977,2329,1041],{"class":983},[977,2331,2332],{"class":987}," bravo.gripper.transfer_from(\n",[977,2334,2335,2337,2339,2341,2343],{"class":979,"line":1038},[977,2336,2260],{"class":1019},[977,2338,1010],{"class":983},[977,2340,2312],{"class":987},[977,2342,1259],{"class":1201},[977,2344,1637],{"class":987},[977,2346,2347,2349,2351,2353,2356],{"class":979,"line":1151},[977,2348,2203],{"class":1019},[977,2350,1010],{"class":983},[977,2352,2312],{"class":987},[977,2354,2355],{"class":1201},"9",[977,2357,1637],{"class":987},[977,2359,2360],{"class":979,"line":1159},[977,2361,1035],{"class":987},[956,2363,2365],{"id":2364},"deactivate-return-module","Deactivate \u002F Return Module",[961,2367,2368,2395,2412],{},[964,2369,2370,2377,2389],{"label":927},[915,2371,2372,2373,2376],{},"In order to return the CO-RE gripper to its storing location, use ",[974,2374,2375],{},"put_down_gripper"," command:",[967,2378,2380],{"className":969,"code":2379,"language":971,"meta":972,"style":972},"await hamilton.core_gripper.put_down_gripper()\n",[974,2381,2382],{"__ignoreMap":972},[977,2383,2384,2386],{"class":979,"line":980},[977,2385,1041],{"class":983},[977,2387,2388],{"class":987}," hamilton.core_gripper.put_down_gripper()\n",[915,2390,2391,2392,2394],{},"The ",[974,2393,2375],{}," command will be executed automatically if another module is used.",[964,2396,2397,2400],{"label":931},[915,2398,2399],{},"To park the iSWAP on the back of the instrument, use home command or activate any other tool:",[967,2401,2403],{"className":969,"code":2402,"language":971,"meta":972,"style":972},"await hamilton.iswap.home()\n",[974,2404,2405],{"__ignoreMap":972},[977,2406,2407,2409],{"class":979,"line":980},[977,2408,1041],{"class":983},[977,2410,2411],{"class":987}," hamilton.iswap.home()\n",[964,2413,2414],{"label":1095},[915,2415,2416],{},"The Bravo gripper is always ready, so no explicit deactivation is needed. It is deactivated automatically when a pipetting operation begins.",[956,2418,2420],{"id":2419},"troubleshooting","Troubleshooting",[2422,2423,2425,2435,2450,2466],"u-accordion",{":items":2424},"[{\"label\":\"CO-RE: channel was not able to pick up the gripper paddles\",\"slot\":\"core-pickup-fail\"},{\"label\":\"CO-RE: gripper dropped the plate unexpectedly\",\"slot\":\"core-drop\"},{\"label\":\"iSWAP: wrong pick-up or put-down position\",\"slot\":\"iswap-position\"},{\"label\":\"Bravo: cannot activate the gripper\",\"slot\":\"bravo-activate\"}]",[2426,2427,2428],"template",{"v-slot:core-pickup-fail":972},[915,2429,2430,2431,2434],{},"Use a teaching needle to verify the exact ",[974,2432,2433],{},"park_location"," vectors for your setup.\nCheck that you are using the correct CO-RE gripper size for your pipetting channels (1000 µL vs 5 mL, not yet supported).",[2426,2436,2437],{"v-slot:core-drop":972},[915,2438,2439,2440,2443,2444,2446,2447,2449],{},"Increase the ",[974,2441,2442],{},"strength"," parameter in ",[974,2445,2170],{}," (range 0–99), or provide a ",[974,2448,1926],{}," vector to adjust where the gripper grabs the plate.",[2426,2451,2452],{"v-slot:iswap-position":972},[915,2453,2454,2455,2458,2459,2462,2463,2465],{},"The iSWAP uses the center of the labware as its reference frame, not the front-left corner. Use ",[974,2456,2457],{},"labware.location + labware.center"," when computing absolute positions for ",[974,2460,2461],{},"move_to",". See the ",[919,2464,1861],{"href":653}," for the full explanation.",[2426,2467,2468],{"v-slot:bravo-activate":972},[915,2469,2470],{},"Ensure the pipette head has no tips mounted before using the gripper. Drop or discard all tips first. The SDK will raise an error if tips are present when the gripper activates.",[2472,2473,2474],"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 .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);}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}",{"title":972,"searchDepth":980,"depth":997,"links":2476},[2477,2478,2479,2480,2481,2482,2483,2484],{"id":958,"depth":997,"text":959},{"id":1167,"depth":997,"text":1168},{"id":1402,"depth":997,"text":1403},{"id":1610,"depth":997,"text":1611},{"id":1929,"depth":997,"text":1930},{"id":2152,"depth":997,"text":2153},{"id":2364,"depth":997,"text":2365},{"id":2419,"depth":997,"text":2420},"Moving labware during a run using different available grippers on Hamilton STAR, Hamilton Vantage, and Bravo liquid handling stations.","md",{},"\u002Fliquid-handling-and-robots\u002Fpipetting\u002Flabware-transport",{"title":632,"description":2485},"lVuAbpk84XPm0KkbeaBRwBlK2C7965awziSl3-kEPqc",[2492,2494],{"title":364,"description":2493,"path":629},"Using predefined and custom liquid classes on Hamilton and Agilent Bravo liquid handlers.",{"title":376,"description":2495,"path":636},"Run scripts against a mock liquid handler that drops in for real hardware and tracks liquid in every well.",1791294184924]