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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":323,"body":752,"description":2464,"extension":2465,"links":2466,"meta":2467,"navigation":897,"path":324,"seo":2468,"stem":325,"__hash__":2469},"docs\u002F03.operate\u002F30.devices\u002F20.hamilton-vantage\u002F30.ipg.md",{"type":753,"value":754,"toc":2444},"minimark",[755,759,772,778,806,811,816,837,841,852,912,919,928,935,958,961,1087,1103,1107,1308,1312,1316,1327,1376,1388,1484,1494,1549,1553,1568,1770,1774,1789,1978,1982,1989,1995,2022,2032,2036,2039,2061,2065,2068,2154,2158,2167,2298,2302,2305,2321,2425,2440],[756,757,758],"p",{},"The IPG (Integrated Plate Gripper) is the plate transport arm on the Hamilton Microlab Vantage. It picks up and places microplates between positions on the deck.",[760,761,763],"callout",{"icon":762},"i-heroicons-light-bulb",[756,764,765,766,771],{},"The IPG is the Vantage equivalent of the iSWAP on the Microlab STAR. See ",[767,768,770],"a",{"href":769},"\u002Foperate\u002Fdevices\u002Fhamilton-star\u002Fiswap\u002F","Using the iSWAP"," for background on plate gripper concepts such as positional reference frames and grip directions.",[756,773,774],{},[775,776,777],"strong",{},"Prerequisites",[779,780,781,785,788,791,799],"ul",{},[782,783,784],"li",{},"A switched on Microlab Vantage device with IPG installed",[782,786,787],{},"A plate carrier and a plate on the deck",[782,789,790],{},"A running Microlab Vantage connector",[782,792,793,794,798],{},"Basic understanding of how labware is used (See the ",[767,795,797],{"href":796},"\u002Foperate\u002Fguides\u002Flabware\u002Fstandard-labware\u002F","using standard labware tutorial",")",[782,800,801,802,798],{},"Basic understanding of labware transports (See the ",[767,803,805],{"href":804},"\u002Foperate\u002Fguides\u002Fpipetting\u002Flabware-transport\u002F","labware transport guide",[807,808,810],"h2",{"id":809},"grip-parameters","Grip Parameters",[812,813,815],"h3",{"id":814},"grip-height-and-width","Grip Height and Width",[756,817,818,819,823,824,827,828,831,832,836],{},"Grip height and grip width are read from the labware definition — ",[820,821,822],"code",{},"grab_height"," sets the vertical grip position (distance from the top of the plate), and grip width is taken from ",[820,825,826],{},"labware.dimensions.x"," or ",[820,829,830],{},".y"," depending on the gripper orientation. See the ",[767,833,835],{"href":834},"\u002Foperate\u002Fguides\u002Flabware\u002Fplates\u002F","plates guide"," for how these fields are defined on a labware class.",[812,838,840],{"id":839},"grip-direction","Grip Direction",[756,842,843,844,847,848,851],{},"The IPG arm position and gripper orientation are encoded together in the ",[820,845,846],{},"GripDirection"," enum, accessible via ",[820,849,850],{},"IPG.GripDirection",". The first letter is the arm position (R=Right, F=Front, L=Left, B=Back) and the second is the gripper orientation.",[853,854,859],"pre",{"className":855,"code":856,"language":857,"meta":858,"style":858},"language-python shiki shiki-themes material-theme-lighter material-theme material-theme-palenight","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","",[820,860,861,892,899,906],{"__ignoreMap":858},[862,863,866,870,874,878,881,883,886,889],"span",{"class":864,"line":865},"line",1,[862,867,869],{"class":868},"s7zQu","from",[862,871,873],{"class":872},"sTEyZ"," unitelabs",[862,875,877],{"class":876},"sMK4o",".",[862,879,880],{"class":872},"liquid_handling",[862,882,877],{"class":876},[862,884,885],{"class":872},"hamilton ",[862,887,888],{"class":868},"import",[862,890,891],{"class":872}," Vantage\n",[862,893,895],{"class":864,"line":894},2,[862,896,898],{"emptyLinePlaceholder":897},true,"\n",[862,900,902],{"class":864,"line":901},3,[862,903,905],{"class":904},"sHwdD","# GripDirection is accessible as a class attribute on the IPG\n",[862,907,909],{"class":864,"line":908},4,[862,910,911],{"class":904},"# e.g. vantage.ipg.GripDirection.LR  (arm Left, gripper facing Right)\n",[756,913,914,915,918],{},"When only an arm position matters (gripper orientation preserved from current hardware state), use ",[820,916,917],{},"IPG.ArmPosition",":",[853,920,922],{"className":855,"code":921,"language":857,"meta":858,"style":858},"# vantage.ipg.ArmPosition.LEFT\n",[820,923,924],{"__ignoreMap":858},[862,925,926],{"class":864,"line":865},[862,927,921],{"class":904},[756,929,930,931,934],{},"Passing ",[820,932,933],{},"None"," for a direction uses the IPG's current orientation.",[756,936,937,938,941,942,945,946,949,950,953,954,957],{},"These values are passed to the ",[820,939,940],{},"pick_up_direction"," and ",[820,943,944],{},"drop_direction"," parameters of ",[820,947,948],{},"transfer()",", ",[820,951,952],{},"pick_up_from()",", and ",[820,955,956],{},"put_down()"," described in the sections below.",[756,959,960],{},"For example, to approach from the right when picking up and drop from the front:",[853,962,964],{"className":855,"code":963,"language":857,"meta":858,"style":858},"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",[820,965,966,989,1004,1024,1053,1081],{"__ignoreMap":858},[862,967,968,971,974,976,980,982,986],{"class":864,"line":865},[862,969,970],{"class":868},"await",[862,972,973],{"class":872}," vantage",[862,975,877],{"class":876},[862,977,979],{"class":978},"swJcz","ipg",[862,981,877],{"class":876},[862,983,985],{"class":984},"s2Zo4","transfer",[862,987,988],{"class":876},"(\n",[862,990,991,995,998,1001],{"class":864,"line":894},[862,992,994],{"class":993},"sHdIc","    labware",[862,996,997],{"class":876},"=",[862,999,1000],{"class":984},"plate",[862,1002,1003],{"class":876},",\n",[862,1005,1006,1009,1011,1014,1017,1021],{"class":864,"line":901},[862,1007,1008],{"class":993},"    target",[862,1010,997],{"class":876},[862,1012,1013],{"class":984},"plate_carrier",[862,1015,1016],{"class":876},"[",[862,1018,1020],{"class":1019},"sbssI","1",[862,1022,1023],{"class":876},"],\n",[862,1025,1026,1029,1031,1034,1036,1038,1040,1042,1044,1047,1050],{"class":864,"line":908},[862,1027,1028],{"class":993},"    pick_up_direction",[862,1030,997],{"class":876},[862,1032,1033],{"class":984},"vantage",[862,1035,877],{"class":876},[862,1037,979],{"class":978},[862,1039,877],{"class":876},[862,1041,846],{"class":978},[862,1043,877],{"class":876},[862,1045,1046],{"class":978},"RL",[862,1048,1049],{"class":876},",",[862,1051,1052],{"class":904},"  # arm Right, gripper facing Left\n",[862,1054,1056,1059,1061,1063,1065,1067,1069,1071,1073,1076,1078],{"class":864,"line":1055},5,[862,1057,1058],{"class":993},"    drop_direction",[862,1060,997],{"class":876},[862,1062,1033],{"class":984},[862,1064,877],{"class":876},[862,1066,979],{"class":978},[862,1068,877],{"class":876},[862,1070,846],{"class":978},[862,1072,877],{"class":876},[862,1074,1075],{"class":978},"FF",[862,1077,1049],{"class":876},[862,1079,1080],{"class":904},"     # arm Front, gripper facing Front\n",[862,1082,1084],{"class":864,"line":1083},6,[862,1085,1086],{"class":876},")\n",[760,1088,1091],{"icon":1089,"color":1090},"i-heroicons-exclamation-triangle","amber",[756,1092,1093,1094,941,1096,1098,1099,1102],{},"The IPG on Vantage has no collision detection with deck elements. Choose ",[820,1095,940],{},[820,1097,944],{}," 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 ",[820,1100,1101],{},"traverse_height"," on your instrument.",[807,1104,1106],{"id":1105},"basic-setup","Basic Setup",[853,1108,1110],{"className":855,"code":1109,"language":857,"meta":858,"style":858},"from unitelabs.liquid_handling.hamilton import Vantage\nfrom unitelabs.labware import Standard96Plate\nfrom unitelabs.labware.hamilton import PLT_CAR_L5MD_A0\n\nvantage = Vantage(name=\"Microlab Vantage\")\nawait vantage.configure()\nawait vantage.initialize()\n\nplate_carrier = PLT_CAR_L5MD_A0()\nplate = Standard96Plate()\nplate_carrier[0] = plate\nvantage.deck.add(plate_carrier, track=10)\n",[820,1111,1112,1130,1146,1166,1170,1199,1213,1227,1232,1245,1258,1277],{"__ignoreMap":858},[862,1113,1114,1116,1118,1120,1122,1124,1126,1128],{"class":864,"line":865},[862,1115,869],{"class":868},[862,1117,873],{"class":872},[862,1119,877],{"class":876},[862,1121,880],{"class":872},[862,1123,877],{"class":876},[862,1125,885],{"class":872},[862,1127,888],{"class":868},[862,1129,891],{"class":872},[862,1131,1132,1134,1136,1138,1141,1143],{"class":864,"line":894},[862,1133,869],{"class":868},[862,1135,873],{"class":872},[862,1137,877],{"class":876},[862,1139,1140],{"class":872},"labware ",[862,1142,888],{"class":868},[862,1144,1145],{"class":872}," Standard96Plate\n",[862,1147,1148,1150,1152,1154,1157,1159,1161,1163],{"class":864,"line":901},[862,1149,869],{"class":868},[862,1151,873],{"class":872},[862,1153,877],{"class":876},[862,1155,1156],{"class":872},"labware",[862,1158,877],{"class":876},[862,1160,885],{"class":872},[862,1162,888],{"class":868},[862,1164,1165],{"class":872}," PLT_CAR_L5MD_A0\n",[862,1167,1168],{"class":864,"line":908},[862,1169,898],{"emptyLinePlaceholder":897},[862,1171,1172,1175,1177,1180,1183,1186,1188,1191,1195,1197],{"class":864,"line":1055},[862,1173,1174],{"class":872},"vantage ",[862,1176,997],{"class":876},[862,1178,1179],{"class":984}," Vantage",[862,1181,1182],{"class":876},"(",[862,1184,1185],{"class":993},"name",[862,1187,997],{"class":876},[862,1189,1190],{"class":876},"\"",[862,1192,1194],{"class":1193},"sfazB","Microlab Vantage",[862,1196,1190],{"class":876},[862,1198,1086],{"class":876},[862,1200,1201,1203,1205,1207,1210],{"class":864,"line":1083},[862,1202,970],{"class":868},[862,1204,973],{"class":872},[862,1206,877],{"class":876},[862,1208,1209],{"class":984},"configure",[862,1211,1212],{"class":876},"()\n",[862,1214,1216,1218,1220,1222,1225],{"class":864,"line":1215},7,[862,1217,970],{"class":868},[862,1219,973],{"class":872},[862,1221,877],{"class":876},[862,1223,1224],{"class":984},"initialize",[862,1226,1212],{"class":876},[862,1228,1230],{"class":864,"line":1229},8,[862,1231,898],{"emptyLinePlaceholder":897},[862,1233,1235,1238,1240,1243],{"class":864,"line":1234},9,[862,1236,1237],{"class":872},"plate_carrier ",[862,1239,997],{"class":876},[862,1241,1242],{"class":984}," PLT_CAR_L5MD_A0",[862,1244,1212],{"class":876},[862,1246,1248,1251,1253,1256],{"class":864,"line":1247},10,[862,1249,1250],{"class":872},"plate ",[862,1252,997],{"class":876},[862,1254,1255],{"class":984}," Standard96Plate",[862,1257,1212],{"class":876},[862,1259,1261,1263,1265,1268,1271,1274],{"class":864,"line":1260},11,[862,1262,1013],{"class":872},[862,1264,1016],{"class":876},[862,1266,1267],{"class":1019},"0",[862,1269,1270],{"class":876},"]",[862,1272,1273],{"class":876}," =",[862,1275,1276],{"class":872}," plate\n",[862,1278,1280,1282,1284,1287,1289,1292,1294,1296,1298,1301,1303,1306],{"class":864,"line":1279},12,[862,1281,1033],{"class":872},[862,1283,877],{"class":876},[862,1285,1286],{"class":978},"deck",[862,1288,877],{"class":876},[862,1290,1291],{"class":984},"add",[862,1293,1182],{"class":876},[862,1295,1013],{"class":984},[862,1297,1049],{"class":876},[862,1299,1300],{"class":993}," track",[862,1302,997],{"class":876},[862,1304,1305],{"class":1019},"10",[862,1307,1086],{"class":876},[807,1309,1311],{"id":1310},"labware-transport","Labware transport",[812,1313,1315],{"id":1314},"transfer-labware","Transfer Labware",[756,1317,1318,1320,1321,941,1323,1326],{},[820,1319,948],{}," 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 ",[820,1322,1156],{},[820,1324,1325],{},"target"," parameters are required:",[853,1328,1330],{"className":855,"code":1329,"language":857,"meta":858,"style":858},"await vantage.ipg.transfer(\n    labware=plate,\n    target=plate_carrier[1],\n)\n",[820,1331,1332,1348,1358,1372],{"__ignoreMap":858},[862,1333,1334,1336,1338,1340,1342,1344,1346],{"class":864,"line":865},[862,1335,970],{"class":868},[862,1337,973],{"class":872},[862,1339,877],{"class":876},[862,1341,979],{"class":978},[862,1343,877],{"class":876},[862,1345,985],{"class":984},[862,1347,988],{"class":876},[862,1349,1350,1352,1354,1356],{"class":864,"line":894},[862,1351,994],{"class":993},[862,1353,997],{"class":876},[862,1355,1000],{"class":984},[862,1357,1003],{"class":876},[862,1359,1360,1362,1364,1366,1368,1370],{"class":864,"line":901},[862,1361,1008],{"class":993},[862,1363,997],{"class":876},[862,1365,1013],{"class":984},[862,1367,1016],{"class":876},[862,1369,1020],{"class":1019},[862,1371,1023],{"class":876},[862,1373,1374],{"class":864,"line":908},[862,1375,1086],{"class":876},[756,1377,1378,1379,941,1381,1383,1384,1387],{},"To control approach and drop directions, the optional parameters ",[820,1380,940],{},[820,1382,944],{}," can be used (see ",[767,1385,840],{"href":1386},"#grip-direction","). This is important to avoid collisions with other deck components.",[853,1389,1391],{"className":855,"code":1390,"language":857,"meta":858,"style":858},"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",[820,1392,1393,1409,1419,1433,1456,1480],{"__ignoreMap":858},[862,1394,1395,1397,1399,1401,1403,1405,1407],{"class":864,"line":865},[862,1396,970],{"class":868},[862,1398,973],{"class":872},[862,1400,877],{"class":876},[862,1402,979],{"class":978},[862,1404,877],{"class":876},[862,1406,985],{"class":984},[862,1408,988],{"class":876},[862,1410,1411,1413,1415,1417],{"class":864,"line":894},[862,1412,994],{"class":993},[862,1414,997],{"class":876},[862,1416,1000],{"class":984},[862,1418,1003],{"class":876},[862,1420,1421,1423,1425,1427,1429,1431],{"class":864,"line":901},[862,1422,1008],{"class":993},[862,1424,997],{"class":876},[862,1426,1013],{"class":984},[862,1428,1016],{"class":876},[862,1430,1020],{"class":1019},[862,1432,1023],{"class":876},[862,1434,1435,1437,1439,1441,1443,1445,1447,1449,1451,1454],{"class":864,"line":908},[862,1436,1028],{"class":993},[862,1438,997],{"class":876},[862,1440,1033],{"class":984},[862,1442,877],{"class":876},[862,1444,979],{"class":978},[862,1446,877],{"class":876},[862,1448,846],{"class":978},[862,1450,877],{"class":876},[862,1452,1453],{"class":978},"LR",[862,1455,1003],{"class":876},[862,1457,1458,1460,1462,1464,1466,1468,1470,1473,1475,1478],{"class":864,"line":1055},[862,1459,1058],{"class":993},[862,1461,997],{"class":876},[862,1463,1033],{"class":984},[862,1465,877],{"class":876},[862,1467,979],{"class":978},[862,1469,877],{"class":876},[862,1471,1472],{"class":978},"ArmPosition",[862,1474,877],{"class":876},[862,1476,1477],{"class":978},"LEFT",[862,1479,1003],{"class":876},[862,1481,1482],{"class":864,"line":1083},[862,1483,1086],{"class":876},[756,1485,1486,1489,1490,1493],{},[820,1487,1488],{},"transfer_from()"," is a variant that takes a ",[820,1491,1492],{},"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.",[853,1495,1497],{"className":855,"code":1496,"language":857,"meta":858,"style":858},"await vantage.ipg.transfer_from(\n    source=plate_carrier[0],\n    target=plate_carrier[1],\n)\n",[820,1498,1499,1516,1531,1545],{"__ignoreMap":858},[862,1500,1501,1503,1505,1507,1509,1511,1514],{"class":864,"line":865},[862,1502,970],{"class":868},[862,1504,973],{"class":872},[862,1506,877],{"class":876},[862,1508,979],{"class":978},[862,1510,877],{"class":876},[862,1512,1513],{"class":984},"transfer_from",[862,1515,988],{"class":876},[862,1517,1518,1521,1523,1525,1527,1529],{"class":864,"line":894},[862,1519,1520],{"class":993},"    source",[862,1522,997],{"class":876},[862,1524,1013],{"class":984},[862,1526,1016],{"class":876},[862,1528,1267],{"class":1019},[862,1530,1023],{"class":876},[862,1532,1533,1535,1537,1539,1541,1543],{"class":864,"line":901},[862,1534,1008],{"class":993},[862,1536,997],{"class":876},[862,1538,1013],{"class":984},[862,1540,1016],{"class":876},[862,1542,1020],{"class":1019},[862,1544,1023],{"class":876},[862,1546,1547],{"class":864,"line":908},[862,1548,1086],{"class":876},[812,1550,1552],{"id":1551},"pick-up-and-put-down-separately","Pick Up and Put Down Separately",[756,1554,1555,1556,941,1559,1561,1562,1564,1565,1567],{},"For more control, ",[820,1557,1558],{},"pick_up()",[820,1560,956],{}," can be called independently. Use ",[820,1563,952],{}," when working with a carrier site, or ",[820,1566,1558],{}," when you already hold a reference to the labware object.",[853,1569,1571],{"className":855,"code":1570,"language":857,"meta":858,"style":858},"# 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",[820,1572,1573,1578,1595,1609,1631,1635,1639,1644,1661,1671,1693,1697,1701,1707,1725,1741,1765],{"__ignoreMap":858},[862,1574,1575],{"class":864,"line":865},[862,1576,1577],{"class":904},"# Pick up from a carrier site\n",[862,1579,1580,1582,1584,1586,1588,1590,1593],{"class":864,"line":894},[862,1581,970],{"class":868},[862,1583,973],{"class":872},[862,1585,877],{"class":876},[862,1587,979],{"class":978},[862,1589,877],{"class":876},[862,1591,1592],{"class":984},"pick_up_from",[862,1594,988],{"class":876},[862,1596,1597,1599,1601,1603,1605,1607],{"class":864,"line":901},[862,1598,1520],{"class":993},[862,1600,997],{"class":876},[862,1602,1013],{"class":984},[862,1604,1016],{"class":876},[862,1606,1267],{"class":1019},[862,1608,1023],{"class":876},[862,1610,1611,1613,1615,1617,1619,1621,1623,1625,1627,1629],{"class":864,"line":908},[862,1612,1028],{"class":993},[862,1614,997],{"class":876},[862,1616,1033],{"class":984},[862,1618,877],{"class":876},[862,1620,979],{"class":978},[862,1622,877],{"class":876},[862,1624,846],{"class":978},[862,1626,877],{"class":876},[862,1628,1046],{"class":978},[862,1630,1003],{"class":876},[862,1632,1633],{"class":864,"line":1055},[862,1634,1086],{"class":876},[862,1636,1637],{"class":864,"line":1083},[862,1638,898],{"emptyLinePlaceholder":897},[862,1640,1641],{"class":864,"line":1215},[862,1642,1643],{"class":904},"# Pick up by labware reference\n",[862,1645,1646,1648,1650,1652,1654,1656,1659],{"class":864,"line":1229},[862,1647,970],{"class":868},[862,1649,973],{"class":872},[862,1651,877],{"class":876},[862,1653,979],{"class":978},[862,1655,877],{"class":876},[862,1657,1658],{"class":984},"pick_up",[862,1660,988],{"class":876},[862,1662,1663,1665,1667,1669],{"class":864,"line":1234},[862,1664,994],{"class":993},[862,1666,997],{"class":876},[862,1668,1000],{"class":984},[862,1670,1003],{"class":876},[862,1672,1673,1675,1677,1679,1681,1683,1685,1687,1689,1691],{"class":864,"line":1247},[862,1674,1028],{"class":993},[862,1676,997],{"class":876},[862,1678,1033],{"class":984},[862,1680,877],{"class":876},[862,1682,979],{"class":978},[862,1684,877],{"class":876},[862,1686,1472],{"class":978},[862,1688,877],{"class":876},[862,1690,1046],{"class":978},[862,1692,1003],{"class":876},[862,1694,1695],{"class":864,"line":1260},[862,1696,1086],{"class":876},[862,1698,1699],{"class":864,"line":1279},[862,1700,898],{"emptyLinePlaceholder":897},[862,1702,1704],{"class":864,"line":1703},13,[862,1705,1706],{"class":904},"# Put down onto a carrier site\n",[862,1708,1710,1712,1714,1716,1718,1720,1723],{"class":864,"line":1709},14,[862,1711,970],{"class":868},[862,1713,973],{"class":872},[862,1715,877],{"class":876},[862,1717,979],{"class":978},[862,1719,877],{"class":876},[862,1721,1722],{"class":984},"put_down",[862,1724,988],{"class":876},[862,1726,1728,1730,1732,1734,1736,1739],{"class":864,"line":1727},15,[862,1729,1008],{"class":993},[862,1731,997],{"class":876},[862,1733,1013],{"class":984},[862,1735,1016],{"class":876},[862,1737,1738],{"class":1019},"2",[862,1740,1023],{"class":876},[862,1742,1744,1746,1748,1750,1752,1754,1756,1758,1760,1763],{"class":864,"line":1743},16,[862,1745,1058],{"class":993},[862,1747,997],{"class":876},[862,1749,1033],{"class":984},[862,1751,877],{"class":876},[862,1753,979],{"class":978},[862,1755,877],{"class":876},[862,1757,846],{"class":978},[862,1759,877],{"class":876},[862,1761,1762],{"class":978},"RR",[862,1764,1003],{"class":876},[862,1766,1768],{"class":864,"line":1767},17,[862,1769,1086],{"class":876},[812,1771,1773],{"id":1772},"transfer-parameters","Transfer parameters",[756,1775,1776,1777,941,1779,1781,1782,949,1784,941,1786,1788],{},"Parameters for ",[820,1778,948],{},[820,1780,1488],{}," methods. ",[820,1783,1558],{},[820,1785,952],{},[820,1787,956],{}," use the relevant subset of these parameters.",[1790,1791,1792,1808],"table",{},[1793,1794,1795],"thead",{},[1796,1797,1798,1802,1805],"tr",{},[1799,1800,1801],"th",{},"Parameter",[1799,1803,1804],{},"Default",[1799,1806,1807],{},"Description",[1809,1810,1811,1833,1844,1866,1887,1902,1919,1935,1949,1964],"tbody",{},[1796,1812,1813,1821,1824],{},[1814,1815,1816,1818,1819],"td",{},[820,1817,1156],{}," \u002F ",[820,1820,1492],{},[1814,1822,1823],{},"—",[1814,1825,1826,1827,1829,1830,1832],{},"The labware object (",[820,1828,985],{},") or source carrier site (",[820,1831,1513],{},") to pick up.",[1796,1834,1835,1839,1841],{},[1814,1836,1837],{},[820,1838,1325],{},[1814,1840,1823],{},[1814,1842,1843],{},"The carrier site or plate where to put the labware down.",[1796,1845,1846,1850,1854],{},[1814,1847,1848],{},[820,1849,940],{},[1814,1851,1852],{},[820,1853,933],{},[1814,1855,1856,1857,1859,1860,1862,1863,1865],{},"Approach direction for pick-up. Accepts ",[820,1858,846],{}," (arm + gripper orientation), ",[820,1861,1472],{}," (arm only, gripper orientation preserved from hardware state), or ",[820,1864,933],{}," (current direction used for both pick-up and drop).",[1796,1867,1868,1872,1876],{},[1814,1869,1870],{},[820,1871,944],{},[1814,1873,1874],{},[820,1875,933],{},[1814,1877,1878,1879,1881,1882,1884,1885,877],{},"Approach direction for drop. Same options as ",[820,1880,940],{},". Defaults to the resolved ",[820,1883,940],{}," when ",[820,1886,933],{},[1796,1888,1889,1894,1899],{},[1814,1890,1891],{},[820,1892,1893],{},"strength",[1814,1895,1896],{},[820,1897,1898],{},"100",[1814,1900,1901],{},"Grip strength in 0.1 N units (range 0–160, i.e. 0–16 N).",[1796,1903,1904,1909,1913],{},[1814,1905,1906],{},[820,1907,1908],{},"pick_up_offset",[1814,1910,1911],{},[820,1912,933],{},[1814,1914,1915,1918],{},[820,1916,1917],{},"Vector(dx, dy, dz)"," offset in mm applied to the pick-up position.",[1796,1920,1921,1926,1930],{},[1814,1922,1923],{},[820,1924,1925],{},"drop_offset",[1814,1927,1928],{},[820,1929,933],{},[1814,1931,1932,1934],{},[820,1933,1917],{}," offset in mm applied to the drop position.",[1796,1936,1937,1942,1946],{},[1814,1938,1939],{},[820,1940,1941],{},"width_offset",[1814,1943,1944],{},[820,1945,1267],{},[1814,1947,1948],{},"Offset in mm added to the grip width derived from the labware dimensions.",[1796,1950,1951,1956,1961],{},[1814,1952,1953],{},[820,1954,1955],{},"grip_gap",[1814,1957,1958],{},[820,1959,1960],{},"6",[1814,1962,1963],{},"Initial and final gap in mm between gripper in open state and labware.",[1796,1965,1966,1971,1975],{},[1814,1967,1968],{},[820,1969,1970],{},"min_traverse_height",[1814,1972,1973],{},[820,1974,933],{},[1814,1976,1977],{},"Minimum safe traverse height in mm. Defaults to the system value.",[807,1979,1981],{"id":1980},"ipg-operations","IPG Operations",[812,1983,1985,1986],{"id":1984},"recovery-with-drop_labware","Recovery with ",[820,1987,1988],{},"drop_labware",[756,1990,1991,1994],{},[820,1992,1993],{},"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.",[853,1996,1998],{"className":855,"code":1997,"language":857,"meta":858,"style":858},"dropped = await vantage.ipg.drop_labware()\n",[820,1999,2000],{"__ignoreMap":858},[862,2001,2002,2005,2007,2010,2012,2014,2016,2018,2020],{"class":864,"line":865},[862,2003,2004],{"class":872},"dropped ",[862,2006,997],{"class":876},[862,2008,2009],{"class":868}," await",[862,2011,973],{"class":872},[862,2013,877],{"class":876},[862,2015,979],{"class":978},[862,2017,877],{"class":876},[862,2019,1988],{"class":984},[862,2021,1212],{"class":876},[760,2023,2025],{"icon":1089,"color":2024},"warning",[756,2026,2027,2029,2030,877],{},[820,2028,1993],{}," 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 ",[820,2031,956],{},[812,2033,2035],{"id":2034},"home-ipg","Home IPG",[756,2037,2038],{},"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:",[853,2040,2042],{"className":855,"code":2041,"language":857,"meta":858,"style":858},"await vantage.ipg.home()\n",[820,2043,2044],{"__ignoreMap":858},[862,2045,2046,2048,2050,2052,2054,2056,2059],{"class":864,"line":865},[862,2047,970],{"class":868},[862,2049,973],{"class":872},[862,2051,877],{"class":876},[862,2053,979],{"class":978},[862,2055,877],{"class":876},[862,2057,2058],{"class":984},"home",[862,2060,1212],{"class":876},[812,2062,2064],{"id":2063},"ipg-state","IPG State",[756,2066,2067],{},"Query the current hardware state of the IPG:",[853,2069,2071],{"className":855,"code":2070,"language":857,"meta":858,"style":858},"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",[820,2072,2073,2094,2114,2134],{"__ignoreMap":858},[862,2074,2075,2077,2079,2081,2083,2085,2088,2091],{"class":864,"line":865},[862,2076,970],{"class":868},[862,2078,973],{"class":872},[862,2080,877],{"class":876},[862,2082,979],{"class":978},[862,2084,877],{"class":876},[862,2086,2087],{"class":984},"has_labware",[862,2089,2090],{"class":876},"()",[862,2092,2093],{"class":904},"        # True if the gripper is holding a plate\n",[862,2095,2096,2098,2100,2102,2104,2106,2109,2111],{"class":864,"line":894},[862,2097,970],{"class":868},[862,2099,973],{"class":872},[862,2101,877],{"class":876},[862,2103,979],{"class":978},[862,2105,877],{"class":876},[862,2107,2108],{"class":984},"current_location",[862,2110,2090],{"class":876},[862,2112,2113],{"class":904},"   # Vector with the gripper center's absolute position\n",[862,2115,2116,2118,2120,2122,2124,2126,2129,2131],{"class":864,"line":901},[862,2117,970],{"class":868},[862,2119,973],{"class":872},[862,2121,877],{"class":876},[862,2123,979],{"class":978},[862,2125,877],{"class":876},[862,2127,2128],{"class":984},"current_direction",[862,2130,2090],{"class":876},[862,2132,2133],{"class":904},"  # GripDirection the gripper is currently facing\n",[862,2135,2136,2138,2140,2142,2144,2146,2149,2151],{"class":864,"line":908},[862,2137,970],{"class":868},[862,2139,973],{"class":872},[862,2141,877],{"class":876},[862,2143,979],{"class":978},[862,2145,877],{"class":876},[862,2147,2148],{"class":984},"current_grip_width",[862,2150,2090],{"class":876},[862,2152,2153],{"class":904}," # Current distance between gripper fingers in mm\n",[812,2155,2157],{"id":2156},"ipg-positioning","IPG Positioning",[756,2159,2160,941,2163,2166],{},[820,2161,2162],{},"move_to()",[820,2164,2165],{},"move_by()"," give direct control over the gripper position. The IPG must be active (i.e. holding labware or explicitly activated).",[853,2168,2170],{"className":855,"code":2169,"language":857,"meta":858,"style":858},"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",[820,2171,2172,2187,2191,2248],{"__ignoreMap":858},[862,2173,2174,2176,2178,2180,2182,2184],{"class":864,"line":865},[862,2175,869],{"class":868},[862,2177,873],{"class":872},[862,2179,877],{"class":876},[862,2181,1140],{"class":872},[862,2183,888],{"class":868},[862,2185,2186],{"class":872}," Vector\n",[862,2188,2189],{"class":864,"line":894},[862,2190,898],{"emptyLinePlaceholder":897},[862,2192,2193,2195,2197,2199,2201,2203,2206,2208,2211,2213,2216,2218,2221,2223,2226,2228,2231,2233,2235,2237,2240,2242,2245],{"class":864,"line":901},[862,2194,970],{"class":868},[862,2196,973],{"class":872},[862,2198,877],{"class":876},[862,2200,979],{"class":978},[862,2202,877],{"class":876},[862,2204,2205],{"class":984},"move_to",[862,2207,1182],{"class":876},[862,2209,2210],{"class":993},"location",[862,2212,997],{"class":876},[862,2214,2215],{"class":984},"Vector",[862,2217,1182],{"class":876},[862,2219,2220],{"class":993},"x",[862,2222,997],{"class":876},[862,2224,2225],{"class":1019},"200",[862,2227,1049],{"class":876},[862,2229,2230],{"class":993}," y",[862,2232,997],{"class":876},[862,2234,2225],{"class":1019},[862,2236,1049],{"class":876},[862,2238,2239],{"class":993}," z",[862,2241,997],{"class":876},[862,2243,2244],{"class":1019},"300",[862,2246,2247],{"class":876},"))\n",[862,2249,2250,2252,2254,2256,2258,2260,2263,2265,2268,2270,2272,2274,2276,2278,2280,2282,2284,2286,2288,2290,2292,2294,2296],{"class":864,"line":908},[862,2251,970],{"class":868},[862,2253,973],{"class":872},[862,2255,877],{"class":876},[862,2257,979],{"class":978},[862,2259,877],{"class":876},[862,2261,2262],{"class":984},"move_by",[862,2264,1182],{"class":876},[862,2266,2267],{"class":993},"offset",[862,2269,997],{"class":876},[862,2271,2215],{"class":984},[862,2273,1182],{"class":876},[862,2275,2220],{"class":993},[862,2277,997],{"class":876},[862,2279,1305],{"class":1019},[862,2281,1049],{"class":876},[862,2283,2230],{"class":993},[862,2285,997],{"class":876},[862,2287,1267],{"class":1019},[862,2289,1049],{"class":876},[862,2291,2239],{"class":993},[862,2293,997],{"class":876},[862,2295,1267],{"class":1019},[862,2297,2247],{"class":876},[812,2299,2301],{"id":2300},"manual-gripper-width-control","Manual Gripper Width Control",[756,2303,2304],{},"Sometimes it is necessary to manually control the gripper fingers width, for example for teaching.",[756,2306,2307,941,2310,2313,2314,941,2317,2320],{},[820,2308,2309],{},"open_to()",[820,2311,2312],{},"close_to()"," move the gripper fingers to an absolute width. ",[820,2315,2316],{},"open_by()",[820,2318,2319],{},"close_by()"," move them relative to the current width.",[853,2322,2324],{"className":855,"code":2323,"language":857,"meta":858,"style":858},"# 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",[820,2325,2326,2331,2353,2374,2378,2383,2404],{"__ignoreMap":858},[862,2327,2328],{"class":864,"line":865},[862,2329,2330],{"class":904},"# Move fingers to an absolute width in mm\n",[862,2332,2333,2335,2337,2339,2341,2343,2346,2348,2351],{"class":864,"line":894},[862,2334,970],{"class":868},[862,2336,973],{"class":872},[862,2338,877],{"class":876},[862,2340,979],{"class":978},[862,2342,877],{"class":876},[862,2344,2345],{"class":984},"open_to",[862,2347,1182],{"class":876},[862,2349,2350],{"class":1019},"110",[862,2352,1086],{"class":876},[862,2354,2355,2357,2359,2361,2363,2365,2368,2370,2372],{"class":864,"line":901},[862,2356,970],{"class":868},[862,2358,973],{"class":872},[862,2360,877],{"class":876},[862,2362,979],{"class":978},[862,2364,877],{"class":876},[862,2366,2367],{"class":984},"close_to",[862,2369,1182],{"class":876},[862,2371,1898],{"class":1019},[862,2373,1086],{"class":876},[862,2375,2376],{"class":864,"line":908},[862,2377,898],{"emptyLinePlaceholder":897},[862,2379,2380],{"class":864,"line":1055},[862,2381,2382],{"class":904},"# Move fingers relative to the current width\n",[862,2384,2385,2387,2389,2391,2393,2395,2398,2400,2402],{"class":864,"line":1083},[862,2386,970],{"class":868},[862,2388,973],{"class":872},[862,2390,877],{"class":876},[862,2392,979],{"class":978},[862,2394,877],{"class":876},[862,2396,2397],{"class":984},"open_by",[862,2399,1182],{"class":876},[862,2401,1305],{"class":1019},[862,2403,1086],{"class":876},[862,2405,2406,2408,2410,2412,2414,2416,2419,2421,2423],{"class":864,"line":1215},[862,2407,970],{"class":868},[862,2409,973],{"class":872},[862,2411,877],{"class":876},[862,2413,979],{"class":978},[862,2415,877],{"class":876},[862,2417,2418],{"class":984},"close_by",[862,2420,1182],{"class":876},[862,2422,1305],{"class":1019},[862,2424,1086],{"class":876},[756,2426,2427,2429,2430,2432,2433,2436,2437,2439],{},[820,2428,2309],{}," releases any labware currently held by the gripper. ",[820,2431,2312],{}," raises a ",[820,2434,2435],{},"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. The optional ",[820,2438,1893],{}," parameter is accepted for API parity with the iSWAP, but is not used by the IPG implementation.",[2441,2442,2443],"style",{},"html pre.shiki code .s7zQu, html code.shiki .s7zQu{--shiki-light:#39ADB5;--shiki-light-font-style:italic;--shiki-default:#89DDFF;--shiki-default-font-style:italic;--shiki-dark:#89DDFF;--shiki-dark-font-style:italic}html pre.shiki code .sTEyZ, html code.shiki .sTEyZ{--shiki-light:#90A4AE;--shiki-default:#EEFFFF;--shiki-dark:#BABED8}html pre.shiki code .sMK4o, html code.shiki .sMK4o{--shiki-light:#39ADB5;--shiki-default:#89DDFF;--shiki-dark:#89DDFF}html pre.shiki code .sHwdD, html code.shiki .sHwdD{--shiki-light:#90A4AE;--shiki-light-font-style:italic;--shiki-default:#546E7A;--shiki-default-font-style:italic;--shiki-dark:#676E95;--shiki-dark-font-style:italic}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 .swJcz, html code.shiki .swJcz{--shiki-light:#E53935;--shiki-default:#F07178;--shiki-dark:#F07178}html pre.shiki code .s2Zo4, html code.shiki .s2Zo4{--shiki-light:#6182B8;--shiki-default:#82AAFF;--shiki-dark:#82AAFF}html pre.shiki code .sHdIc, html code.shiki .sHdIc{--shiki-light:#90A4AE;--shiki-light-font-style:italic;--shiki-default:#EEFFFF;--shiki-default-font-style:italic;--shiki-dark:#BABED8;--shiki-dark-font-style:italic}html pre.shiki code .sbssI, html code.shiki .sbssI{--shiki-light:#F76D47;--shiki-default:#F78C6C;--shiki-dark:#F78C6C}html pre.shiki code .sfazB, html code.shiki .sfazB{--shiki-light:#91B859;--shiki-default:#C3E88D;--shiki-dark:#C3E88D}",{"title":858,"searchDepth":865,"depth":894,"links":2445},[2446,2450,2451,2456],{"id":809,"depth":894,"text":810,"children":2447},[2448,2449],{"id":814,"depth":901,"text":815},{"id":839,"depth":901,"text":840},{"id":1105,"depth":894,"text":1106},{"id":1310,"depth":894,"text":1311,"children":2452},[2453,2454,2455],{"id":1314,"depth":901,"text":1315},{"id":1551,"depth":901,"text":1552},{"id":1772,"depth":901,"text":1773},{"id":1980,"depth":894,"text":1981,"children":2457},[2458,2460,2461,2462,2463],{"id":1984,"depth":901,"text":2459},"Recovery with drop_labware",{"id":2034,"depth":901,"text":2035},{"id":2063,"depth":901,"text":2064},{"id":2156,"depth":901,"text":2157},{"id":2300,"depth":901,"text":2301},"Use the IPG module for plate handling on the Hamilton Vantage.","md",null,{},{"title":323,"description":2464},"usHy6TRembN4HORd6MSQTp_Ilx2rodJD5m0mEO3_QEM",[2471,2473],{"title":319,"path":320,"stem":321,"description":2472},"Use the IDL module for automated carrier loading and barcode scanning on the Hamilton Vantage.",{"title":327,"path":328,"stem":329,"description":2474},"Use the XL (5ml) pipettes for high-volume pipetting on the Hamilton Vantage.",1783607777597]