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API","\u002Ftechnical-reference\u002Frest-api","10.technical-reference\u002F01.rest-api",{"title":53,"path":581,"stem":582,"children":583,"page":42},"\u002Ftechnical-reference\u002Fgroundcontrol","10.technical-reference\u002F10.groundcontrol",[584,588],{"title":585,"path":586,"stem":587},"Install & Setup","\u002Ftechnical-reference\u002Fgroundcontrol\u002Finstall","10.technical-reference\u002F10.groundcontrol\u002F10.install",{"title":589,"path":590,"stem":591},"Changelog","\u002Ftechnical-reference\u002Fgroundcontrol\u002Fchangelog","10.technical-reference\u002F10.groundcontrol\u002F20.changelog",{"title":593,"path":594,"stem":595,"children":596,"page":42},"UniteLabs 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SDK","\u002Ftechnical-reference\u002Fpython-liquid-handling-sdk","10.technical-reference\u002F30.python-liquid-handling-sdk",[608,611],{"title":585,"path":609,"stem":610},"\u002Ftechnical-reference\u002Fpython-liquid-handling-sdk\u002Finstall","10.technical-reference\u002F30.python-liquid-handling-sdk\u002F10.install",{"title":589,"path":612,"stem":613},"\u002Ftechnical-reference\u002Fpython-liquid-handling-sdk\u002Fchangelog","10.technical-reference\u002F30.python-liquid-handling-sdk\u002F20.changelog",{"title":163,"path":615,"stem":616,"children":617,"page":42},"\u002Ftechnical-reference\u002Flabware","10.technical-reference\u002F40.labware",[618,621],{"title":585,"path":619,"stem":620},"\u002Ftechnical-reference\u002Flabware\u002Finstall","10.technical-reference\u002F40.labware\u002F10.install",{"title":589,"path":622,"stem":623},"\u002Ftechnical-reference\u002Flabware\u002Fchangelog","10.technical-reference\u002F40.labware\u002F20.changelog",{"title":625,"path":626,"stem":627,"children":628,"page":42},"Python Omnibus","\u002Ftechnical-reference\u002Fpython-omnibus","10.technical-reference\u002F50.python-omnibus",[629,632],{"title":585,"path":630,"stem":631},"\u002Ftechnical-reference\u002Fpython-omnibus\u002Finstall","10.technical-reference\u002F50.python-omnibus\u002F10.install",{"title":589,"path":633,"stem":634},"\u002Ftechnical-reference\u002Fpython-omnibus\u002Fchangelog","10.technical-reference\u002F50.python-omnibus\u002F20.changelog",{"title":636,"path":637,"stem":638,"children":639,"page":42},"Python CDK","\u002Ftechnical-reference\u002Fpython-cdk","10.technical-reference\u002F60.python-cdk",[640,643],{"title":585,"path":641,"stem":642},"\u002Ftechnical-reference\u002Fpython-cdk\u002Finstall","10.technical-reference\u002F60.python-cdk\u002F10.install",{"title":589,"path":644,"stem":645},"\u002Ftechnical-reference\u002Fpython-cdk\u002Fchangelog","10.technical-reference\u002F60.python-cdk\u002F20.changelog",{"title":647,"path":648,"stem":649,"children":650},"Connector Development (CDK)","\u002Fconnector-development","20.connector-development",[651,653,672,705,713,744],{"title":647,"path":648,"stem":652},"20.connector-development\u002Findex",{"title":654,"path":655,"stem":656,"children":657,"page":42},"Getting Started","\u002Fconnector-development\u002Fgetting-started","20.connector-development\u002F10.getting-started",[658,661,665,668],{"title":536,"path":659,"stem":660},"\u002Fconnector-development\u002Fgetting-started\u002Foverview","20.connector-development\u002F10.getting-started\u002F10.overview",{"title":662,"path":663,"stem":664},"What's 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Communication","\u002Fconnector-development\u002Ftutorial\u002Fhardware-communication","20.connector-development\u002F20.tutorial\u002F90.hardware-communication",{"title":94,"path":706,"stem":707,"children":708,"page":42},"\u002Fconnector-development\u002Fconcepts","20.connector-development\u002F30.concepts",[709],{"title":710,"path":711,"stem":712},"SiLA","\u002Fconnector-development\u002Fconcepts\u002Fsila","20.connector-development\u002F30.concepts\u002Fsila",{"title":187,"path":714,"stem":715,"children":716,"page":42},"\u002Fconnector-development\u002Fguides","20.connector-development\u002F40.guides",[717,721,725,729,733,736,740],{"title":718,"path":719,"stem":720},"Configuration","\u002Fconnector-development\u002Fguides\u002Fconfiguration","20.connector-development\u002F40.guides\u002F20.configuration",{"title":722,"path":723,"stem":724},"Deployment","\u002Fconnector-development\u002Fguides\u002Fdeployment","20.connector-development\u002F40.guides\u002F30.deployment",{"title":726,"path":727,"stem":728},"Security","\u002Fconnector-development\u002Fguides\u002Fsecurity","20.connector-development\u002F40.guides\u002F40.security",{"title":730,"path":731,"stem":732},"Subscriptions","\u002Fconnector-development\u002Fguides\u002Fsubscriptions","20.connector-development\u002F40.guides\u002F45.subscriptions",{"title":183,"path":734,"stem":735},"\u002Fconnector-development\u002Fguides\u002Ferror-handling","20.connector-development\u002F40.guides\u002F50.error-handling",{"title":737,"path":738,"stem":739},"Serial Troubleshooting","\u002Fconnector-development\u002Fguides\u002Fserial-troubleshooting","20.connector-development\u002F40.guides\u002F70.serial-troubleshooting",{"title":741,"path":742,"stem":743},"Testing","\u002Fconnector-development\u002Fguides\u002Ftesting","20.connector-development\u002F40.guides\u002F80.testing",{"title":745,"path":746,"stem":747,"children":748},"References","\u002Fconnector-development\u002Freference","20.connector-development\u002F50.reference\u002Findex",[749],{"title":745,"path":746,"stem":747},{"id":751,"title":155,"body":752,"description":1055,"extension":1056,"links":1057,"meta":1058,"navigation":1059,"path":156,"seo":1060,"stem":157,"__hash__":1061},"docs\u002F03.operate\u002F10.concepts\u002F20.modules.md",{"type":753,"value":754,"toc":1047},"minimark",[755,764,767,816,819,824,827,953,956,960,963,973,999,1006,1010,1013,1016,1020],[756,757,758,759,763],"p",{},"A liquid handler is not a monolith. It is a collection of ",[760,761,762],"strong",{},"modules"," — the pipetting channels, the 96-nozzle head, the iSWAP arm, the CO-RE gripper, the autoload, the Bravo gripper — each with its own capabilities and its own lifecycle. Your protocol commands modules, not the device as a whole.",[756,765,766],{},"A module is the unit of capability you can command:",[768,769,770,789,804,810],"ul",{},[771,772,773,776,777,781,782,781,785,788],"li",{},[760,774,775],{},"Pipetting channels \u002F heads"," (",[778,779,780],"code",{},"hamilton.pipettes",", ",[778,783,784],{},"hamilton.core96",[778,786,787],{},"bravo.pipette_head",") — aspirate and dispense liquid",[771,790,791,776,794,781,797,781,800,803],{},[760,792,793],{},"Grippers and transport arms",[778,795,796],{},"hamilton.core_gripper",[778,798,799],{},"hamilton.iswap",[778,801,802],{},"bravo.gripper",") — move labware between deck positions",[771,805,806,809],{},[760,807,808],{},"Autoload"," — load and unload carriers from the front of the deck",[771,811,812,815],{},[760,813,814],{},"Readers, heaters, shakers"," — integrated accessories exposed through their own module interfaces",[756,817,818],{},"This mirrors the connector-side vocabulary: in the CDK, a module is an addressable capability exposing properties, sensors, and controls. Consumer-side, you see the same unit.",[820,821,823],"h2",{"id":822},"transport-modules-at-a-glance","Transport modules at a glance",[756,825,826],{},"Three modules move labware, each with a different mechanism and reach. Pick one based on your device and the kind of transport you need:",[828,829,830,848],"table",{},[831,832,833],"thead",{},[834,835,836,839,842,845],"tr",{},[837,838],"th",{},[837,840,841],{},"Hamilton CO-RE",[837,843,844],{},"Hamilton iSWAP \u002F IPG",[837,846,847],{},"Bravo",[849,850,851,865,881,895,909,922,937],"tbody",{},[834,852,853,858,861,863],{},[854,855,856],"td",{},[760,857,115],{},[854,859,860],{},"Hamilton STAR \u002F Vantage",[854,862,860],{},[854,864,331],{},[834,866,867,872,875,878],{},[854,868,869],{},[760,870,871],{},"Mechanism",[854,873,874],{},"Two pipette channels pick up paddles",[854,876,877],{},"Dedicated rotatable gripper",[854,879,880],{},"Integrated gripper arm",[834,882,883,888,891,893],{},[854,884,885],{},[760,886,887],{},"On-deck transport",[854,889,890],{},"Yes",[854,892,890],{},[854,894,890],{},[834,896,897,902,905,907],{},[854,898,899],{},[760,900,901],{},"Off-deck reach",[854,903,904],{},"No",[854,906,890],{},[854,908,904],{},[834,910,911,916,918,920],{},[854,912,913],{},[760,914,915],{},"Rotation support",[854,917,904],{},[854,919,890],{},[854,921,904],{},[834,923,924,929,932,935],{},[854,925,926],{},[760,927,928],{},"Module setup",[854,930,931],{},"Configure paddle locations",[854,933,934],{},"None",[854,936,934],{},[834,938,939,944,947,950],{},[854,940,941],{},[760,942,943],{},"Best for",[854,945,946],{},"Quick on-deck moves",[854,948,949],{},"Off-deck integrations, rotations",[854,951,952],{},"Bravo deck repositioning",[756,954,955],{},"The same pattern applies across module types: different mechanisms, a shared conceptual shape.",[820,957,959],{"id":958},"module-lifecycle","Module lifecycle",[756,961,962],{},"Every module has a small state machine that determines when it can receive commands:",[964,965,970],"pre",{"className":966,"code":968,"language":969},[967],"language-text","INSTALLED  →  CONFIGURED  →  INITIALIZED  →  ACTIVE\n","text",[778,971,968],{"__ignoreMap":972},"",[768,974,975,981,987,993],{},[771,976,977,980],{},[760,978,979],{},"Installed",": the device knows the module exists (from the device configuration).",[771,982,983,986],{},[760,984,985],{},"Configured",": any setup that depends on deck geometry is complete — for example, the CO-RE gripper has had its paddle pickup locations set.",[771,988,989,992],{},[760,990,991],{},"Initialized",": the module has homed and reported ready.",[771,994,995,998],{},[760,996,997],{},"Active",": the module is currently the tool in use. On Hamilton, modules that share the pipetting arm are mutually exclusive — activating one deactivates the others.",[756,1000,1001,1002,1005],{},"Most protocols only call ",[778,1003,1004],{},"activate()"," before using a module and move on. Configuration is a one-time setup step on the modules that need it (primarily the CO-RE gripper's paddle locations); initialization happens at the device level when you first connect.",[820,1007,1009],{"id":1008},"mutual-exclusion","Mutual exclusion",[756,1011,1012],{},"On Hamilton, the pipetting channels, the CO-RE gripper, and the iSWAP share the pipetting arm. Only one can be active at a time. Activating another module automatically deactivates the current one — which is how you \"park\" a gripper by activating the channels again.",[756,1014,1015],{},"On Bravo, the pipette head and the gripper are mutually exclusive for a different reason: the gripper cannot pick up plates while tips are mounted. Drop tips before calling a gripper operation.",[820,1017,1019],{"id":1018},"where-to-go-next","Where to go next",[768,1021,1022,1029,1035],{},[771,1023,1024,1028],{},[1025,1026,253],"a",{"href":1027},"\u002Foperate\u002Fguides\u002Fpipetting\u002Flabware-transport\u002F"," — procedural how-to for each transport module",[771,1030,1031,1034],{},[1025,1032,238],{"href":1033},"\u002Foperate\u002Fguides\u002Fpipetting\u002Fbasic-pipetting\u002F"," — commanding the pipetting modules",[771,1036,1037,1038,781,1041,781,1044],{},"Device-specific references: ",[1025,1039,265],{"href":1040},"\u002Foperate\u002Fdevices\u002Fhamilton-star\u002Fpositioning\u002F",[1025,1042,306],{"href":1043},"\u002Foperate\u002Fdevices\u002Fhamilton-vantage\u002Fwaste-configuration\u002F",[1025,1045,331],{"href":1046},"\u002Foperate\u002Fdevices\u002Fagilent-bravo\u002Ftip-handling\u002F",{"title":972,"searchDepth":1048,"depth":1049,"links":1050},1,2,[1051,1052,1053,1054],{"id":822,"depth":1049,"text":823},{"id":958,"depth":1049,"text":959},{"id":1008,"depth":1049,"text":1009},{"id":1018,"depth":1049,"text":1019},"Pipettes, grippers, and autoload as independent units of hardware capability, each with its own lifecycle.","md",null,{},true,{"title":155,"description":1055},"BH85mZGpeKFFzL32lek0Nog7iOWm8dh3MsW9qcdc0sQ",[1063,1065],{"title":151,"path":152,"stem":153,"description":1064},"The domain model for liquid handling in the SDK — aspirate\u002Fdispense as the core abstraction, and how vendor differences are flattened behind one API.",{"title":159,"path":160,"stem":161,"description":1066},"The coordinate frame and resource tree that place labware in 3D space, and the layout files that make a deck reproducible across runs.",1783607762910]