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It is mounted on a separate arm that is independent from the pipetting head and approaches labware from one of four cardinal directions.",[820,832,833],{},[834,835,836],"strong",{},"Prerequisites",[838,839,840,844,847,850],"ul",{},[841,842,843],"li",{},"A switched on Tecan Freedom EVO device with a Robotic Manipulator Arm",[841,845,846],{},"A plate carrier with a plate",[841,848,849],{},"A running Tecan Freedom EVO connector",[841,851,852,853,856],{},"Basic understanding of the liquid handler class (See ",[854,855,403],"a",{"href":404},")",[858,859,861],"h2",{"id":860},"connect-and-initialize","Connect and Initialize",[863,864,869],"pre",{"className":865,"code":866,"language":867,"meta":868,"style":868},"language-python shiki shiki-themes material-theme-lighter material-theme material-theme-palenight","from unitelabs.sdk import AsyncApiClient\nfrom unitelabs.liquid_handling.tecan import TecanFreedomEvo\n\nclient = AsyncApiClient()\n\nevo = TecanFreedomEvo(name=\"Tecan Freedom EVO\", client=client)\nawait evo.configure()\nawait evo.initialize()\nawait evo.activate()\n","python","",[824,870,871,896,918,925,941,946,988,1004,1018],{"__ignoreMap":868},[872,873,876,880,884,887,890,893],"span",{"class":874,"line":875},"line",1,[872,877,879],{"class":878},"s7zQu","from",[872,881,883],{"class":882},"sTEyZ"," unitelabs",[872,885,827],{"class":886},"sMK4o",[872,888,889],{"class":882},"sdk ",[872,891,892],{"class":878},"import",[872,894,895],{"class":882}," AsyncApiClient\n",[872,897,899,901,903,905,908,910,913,915],{"class":874,"line":898},2,[872,900,879],{"class":878},[872,902,883],{"class":882},[872,904,827],{"class":886},[872,906,907],{"class":882},"liquid_handling",[872,909,827],{"class":886},[872,911,912],{"class":882},"tecan ",[872,914,892],{"class":878},[872,916,917],{"class":882}," TecanFreedomEvo\n",[872,919,921],{"class":874,"line":920},3,[872,922,924],{"emptyLinePlaceholder":923},true,"\n",[872,926,928,931,934,938],{"class":874,"line":927},4,[872,929,930],{"class":882},"client ",[872,932,933],{"class":886},"=",[872,935,937],{"class":936},"s2Zo4"," AsyncApiClient",[872,939,940],{"class":886},"()\n",[872,942,944],{"class":874,"line":943},5,[872,945,924],{"emptyLinePlaceholder":923},[872,947,949,952,954,957,960,964,966,969,972,974,977,980,982,985],{"class":874,"line":948},6,[872,950,951],{"class":882},"evo ",[872,953,933],{"class":886},[872,955,956],{"class":936}," TecanFreedomEvo",[872,958,959],{"class":886},"(",[872,961,963],{"class":962},"sHdIc","name",[872,965,933],{"class":886},[872,967,968],{"class":886},"\"",[872,970,398],{"class":971},"sfazB",[872,973,968],{"class":886},[872,975,976],{"class":886},",",[872,978,979],{"class":962}," client",[872,981,933],{"class":886},[872,983,984],{"class":936},"client",[872,986,987],{"class":886},")\n",[872,989,991,994,997,999,1002],{"class":874,"line":990},7,[872,992,993],{"class":878},"await",[872,995,996],{"class":882}," evo",[872,998,827],{"class":886},[872,1000,1001],{"class":936},"configure",[872,1003,940],{"class":886},[872,1005,1007,1009,1011,1013,1016],{"class":874,"line":1006},8,[872,1008,993],{"class":878},[872,1010,996],{"class":882},[872,1012,827],{"class":886},[872,1014,1015],{"class":936},"initialize",[872,1017,940],{"class":886},[872,1019,1021,1023,1025,1027,1030],{"class":874,"line":1020},9,[872,1022,993],{"class":878},[872,1024,996],{"class":882},[872,1026,827],{"class":886},[872,1028,1029],{"class":936},"activate",[872,1031,940],{"class":886},[816,1033,1034],{"icon":818},[820,1035,1036,1039,1040,1043,1044,1047],{},[824,1037,1038],{},"gripper"," is a vendor-neutral alias for ",[824,1041,1042],{},"roma"," — both refer to the same ",[824,1045,1046],{},"RoboticManipulatorArm"," instance.",[858,1049,1051],{"id":1050},"arrange-the-deck","Arrange the Deck",[863,1053,1055],{"className":865,"code":1054,"language":867,"meta":868,"style":868},"from unitelabs.labware.plates import Standard96Plate\nfrom unitelabs.labware.tecan import MP_3Pos_flat\n\nplate_carrier = MP_3Pos_flat()\nplate = Standard96Plate(identifier=\"Plate_96Well\")\nplate_carrier[0] = plate\nevo.deck.add(plate_carrier, track=1)\n",[824,1056,1057,1078,1097,1101,1113,1139,1160],{"__ignoreMap":868},[872,1058,1059,1061,1063,1065,1068,1070,1073,1075],{"class":874,"line":875},[872,1060,879],{"class":878},[872,1062,883],{"class":882},[872,1064,827],{"class":886},[872,1066,1067],{"class":882},"labware",[872,1069,827],{"class":886},[872,1071,1072],{"class":882},"plates ",[872,1074,892],{"class":878},[872,1076,1077],{"class":882}," Standard96Plate\n",[872,1079,1080,1082,1084,1086,1088,1090,1092,1094],{"class":874,"line":898},[872,1081,879],{"class":878},[872,1083,883],{"class":882},[872,1085,827],{"class":886},[872,1087,1067],{"class":882},[872,1089,827],{"class":886},[872,1091,912],{"class":882},[872,1093,892],{"class":878},[872,1095,1096],{"class":882}," MP_3Pos_flat\n",[872,1098,1099],{"class":874,"line":920},[872,1100,924],{"emptyLinePlaceholder":923},[872,1102,1103,1106,1108,1111],{"class":874,"line":927},[872,1104,1105],{"class":882},"plate_carrier ",[872,1107,933],{"class":886},[872,1109,1110],{"class":936}," MP_3Pos_flat",[872,1112,940],{"class":886},[872,1114,1115,1118,1120,1123,1125,1128,1130,1132,1135,1137],{"class":874,"line":943},[872,1116,1117],{"class":882},"plate ",[872,1119,933],{"class":886},[872,1121,1122],{"class":936}," Standard96Plate",[872,1124,959],{"class":886},[872,1126,1127],{"class":962},"identifier",[872,1129,933],{"class":886},[872,1131,968],{"class":886},[872,1133,1134],{"class":971},"Plate_96Well",[872,1136,968],{"class":886},[872,1138,987],{"class":886},[872,1140,1141,1144,1147,1151,1154,1157],{"class":874,"line":948},[872,1142,1143],{"class":882},"plate_carrier",[872,1145,1146],{"class":886},"[",[872,1148,1150],{"class":1149},"sbssI","0",[872,1152,1153],{"class":886},"]",[872,1155,1156],{"class":886}," =",[872,1158,1159],{"class":882}," plate\n",[872,1161,1162,1165,1167,1171,1173,1176,1178,1180,1182,1185,1187,1190],{"class":874,"line":990},[872,1163,1164],{"class":882},"evo",[872,1166,827],{"class":886},[872,1168,1170],{"class":1169},"swJcz","deck",[872,1172,827],{"class":886},[872,1174,1175],{"class":936},"add",[872,1177,959],{"class":886},[872,1179,1143],{"class":936},[872,1181,976],{"class":886},[872,1183,1184],{"class":962}," track",[872,1186,933],{"class":886},[872,1188,1189],{"class":1149},"1",[872,1191,987],{"class":886},[858,1193,1195],{"id":1194},"pick-up-labware","Pick Up Labware",[820,1197,1198,1199,1202,1203,1206],{},"Pass the labware object directly to ",[824,1200,1201],{},"pick_up()",". The RoMa approaches from its current facing direction unless ",[824,1204,1205],{},"approach_direction"," is given explicitly.",[863,1208,1210],{"className":865,"code":1209,"language":867,"meta":868,"style":868},"from unitelabs.liquid_handling.tecan import ApproachDirection\n\nawait evo.roma.pick_up(plate, approach_direction=ApproachDirection.FRONT)\n",[824,1211,1212,1231,1235],{"__ignoreMap":868},[872,1213,1214,1216,1218,1220,1222,1224,1226,1228],{"class":874,"line":875},[872,1215,879],{"class":878},[872,1217,883],{"class":882},[872,1219,827],{"class":886},[872,1221,907],{"class":882},[872,1223,827],{"class":886},[872,1225,912],{"class":882},[872,1227,892],{"class":878},[872,1229,1230],{"class":882}," ApproachDirection\n",[872,1232,1233],{"class":874,"line":898},[872,1234,924],{"emptyLinePlaceholder":923},[872,1236,1237,1239,1241,1243,1245,1247,1250,1252,1255,1257,1260,1262,1265,1267,1270],{"class":874,"line":920},[872,1238,993],{"class":878},[872,1240,996],{"class":882},[872,1242,827],{"class":886},[872,1244,1042],{"class":1169},[872,1246,827],{"class":886},[872,1248,1249],{"class":936},"pick_up",[872,1251,959],{"class":886},[872,1253,1254],{"class":936},"plate",[872,1256,976],{"class":886},[872,1258,1259],{"class":962}," approach_direction",[872,1261,933],{"class":886},[872,1263,1264],{"class":936},"ApproachDirection",[872,1266,827],{"class":886},[872,1268,1269],{"class":1169},"FRONT",[872,1271,987],{"class":886},[863,1273,1275],{"className":865,"code":1274,"language":867,"meta":868,"style":868},"assert evo.roma.get() == plate\nassert await evo.roma.has_labware() is True\n",[824,1276,1277,1301],{"__ignoreMap":868},[872,1278,1279,1282,1284,1286,1288,1290,1293,1296,1299],{"class":874,"line":875},[872,1280,1281],{"class":878},"assert",[872,1283,996],{"class":882},[872,1285,827],{"class":886},[872,1287,1042],{"class":1169},[872,1289,827],{"class":886},[872,1291,1292],{"class":936},"get",[872,1294,1295],{"class":886},"()",[872,1297,1298],{"class":886}," ==",[872,1300,1159],{"class":882},[872,1302,1303,1305,1308,1310,1312,1314,1316,1319,1321,1324],{"class":874,"line":898},[872,1304,1281],{"class":878},[872,1306,1307],{"class":878}," await",[872,1309,996],{"class":882},[872,1311,827],{"class":886},[872,1313,1042],{"class":1169},[872,1315,827],{"class":886},[872,1317,1318],{"class":936},"has_labware",[872,1320,1295],{"class":886},[872,1322,1323],{"class":886}," is",[872,1325,1326],{"class":886}," True\n",[820,1328,1329,1331],{},[824,1330,1201],{}," accepts optional parameters to fine-tune the grip:",[838,1333,1334,1353,1363,1369],{},[841,1335,1336,1338,1339,1341,1342,1341,1345,1348,1349,1352],{},[824,1337,1205],{},": ",[824,1340,1269],{},", ",[824,1343,1344],{},"RIGHT",[824,1346,1347],{},"BACK",", or ",[824,1350,1351],{},"LEFT"," — defaults to the arm's current direction.",[841,1354,1355,1358,1359,1362],{},[824,1356,1357],{},"pick_up_offset",": a ",[824,1360,1361],{},"Vector(dx, dy)"," in mm to adjust the pick-up location.",[841,1364,1365,1368],{},[824,1366,1367],{},"width_offset",": an offset in mm to adjust the assumed size of the labware.",[841,1370,1371,1374,1375,1378],{},[824,1372,1373],{},"grip_gap",": the initial gap between the gripper and the labware before closing, in mm (default ",[824,1376,1377],{},"6",").",[816,1380,1383],{"icon":1381,"color":1382},"i-heroicons-shield-exclamation","amber",[820,1384,1385,1388,1389,1391,1392,1395,1396,1399],{},[834,1386,1387],{},"Offset alignment",": if you use ",[824,1390,1357],{}," when picking up, pass the same value as ",[824,1393,1394],{},"drop_offset"," to ",[824,1397,1398],{},"put_down",". A mismatch can misalign the gripper on the drop.",[858,1401,1403],{"id":1402},"put-down-labware","Put Down Labware",[820,1405,1406,1407,1410,1411,1414,1415,1418],{},"Pass the target carrier site to ",[824,1408,1409],{},"put_down()"," — indexing a carrier returns its ",[824,1412,1413],{},"CarrierSite"," objects, not the deck. ",[824,1416,1417],{},"plate_carrier[1]"," is the second (empty) site of the 3-position carrier used above.",[863,1420,1422],{"className":865,"code":1421,"language":867,"meta":868,"style":868},"await evo.roma.put_down(plate_carrier[1], approach_direction=ApproachDirection.FRONT)\n",[824,1423,1424],{"__ignoreMap":868},[872,1425,1426,1428,1430,1432,1434,1436,1438,1440,1442,1444,1446,1449,1451,1453,1455,1457,1459],{"class":874,"line":875},[872,1427,993],{"class":878},[872,1429,996],{"class":882},[872,1431,827],{"class":886},[872,1433,1042],{"class":1169},[872,1435,827],{"class":886},[872,1437,1398],{"class":936},[872,1439,959],{"class":886},[872,1441,1143],{"class":936},[872,1443,1146],{"class":886},[872,1445,1189],{"class":1149},[872,1447,1448],{"class":886},"],",[872,1450,1259],{"class":962},[872,1452,933],{"class":886},[872,1454,1264],{"class":936},[872,1456,827],{"class":886},[872,1458,1269],{"class":1169},[872,1460,987],{"class":886},[863,1462,1464],{"className":865,"code":1463,"language":867,"meta":868,"style":868},"assert evo.roma.get() is None\nassert plate_carrier[1].get() == plate\n",[824,1465,1466,1487],{"__ignoreMap":868},[872,1467,1468,1470,1472,1474,1476,1478,1480,1482,1484],{"class":874,"line":875},[872,1469,1281],{"class":878},[872,1471,996],{"class":882},[872,1473,827],{"class":886},[872,1475,1042],{"class":1169},[872,1477,827],{"class":886},[872,1479,1292],{"class":936},[872,1481,1295],{"class":886},[872,1483,1323],{"class":886},[872,1485,1486],{"class":886}," None\n",[872,1488,1489,1491,1494,1496,1498,1501,1503,1505,1507],{"class":874,"line":898},[872,1490,1281],{"class":878},[872,1492,1493],{"class":882}," plate_carrier",[872,1495,1146],{"class":886},[872,1497,1189],{"class":1149},[872,1499,1500],{"class":886},"].",[872,1502,1292],{"class":936},[872,1504,1295],{"class":886},[872,1506,1298],{"class":886},[872,1508,1159],{"class":882},[816,1510,1512],{"icon":1511},"i-heroicons-information-circle",[820,1513,1514,1517,1518,1520,1521,1524],{},[834,1515,1516],{},"Rotated placement",": dropping from a different ",[824,1519,1205],{}," than the labware was picked up with lands it physically rotated on the deck. The labware's own ",[824,1522,1523],{},"rotation"," attribute is updated to match, so downstream resource-graph state stays accurate.",[858,1526,1528],{"id":1527},"pick-up-from-transfer","Pick Up From \u002F Transfer",[820,1530,1531,1534],{},[824,1532,1533],{},"pick_up_from"," references a carrier site directly instead of the labware object:",[863,1536,1538],{"className":865,"code":1537,"language":867,"meta":868,"style":868},"await evo.roma.pick_up_from(plate_carrier[1])\nawait evo.roma.put_down(plate_carrier[1])\n",[824,1539,1540,1565],{"__ignoreMap":868},[872,1541,1542,1544,1546,1548,1550,1552,1554,1556,1558,1560,1562],{"class":874,"line":875},[872,1543,993],{"class":878},[872,1545,996],{"class":882},[872,1547,827],{"class":886},[872,1549,1042],{"class":1169},[872,1551,827],{"class":886},[872,1553,1533],{"class":936},[872,1555,959],{"class":886},[872,1557,1143],{"class":936},[872,1559,1146],{"class":886},[872,1561,1189],{"class":1149},[872,1563,1564],{"class":886},"])\n",[872,1566,1567,1569,1571,1573,1575,1577,1579,1581,1583,1585,1587],{"class":874,"line":898},[872,1568,993],{"class":878},[872,1570,996],{"class":882},[872,1572,827],{"class":886},[872,1574,1042],{"class":1169},[872,1576,827],{"class":886},[872,1578,1398],{"class":936},[872,1580,959],{"class":886},[872,1582,1143],{"class":936},[872,1584,1146],{"class":886},[872,1586,1189],{"class":1149},[872,1588,1564],{"class":886},[820,1590,1591,1594],{},[824,1592,1593],{},"transfer()"," combines pick up and put down into a single call:",[863,1596,1598],{"className":865,"code":1597,"language":867,"meta":868,"style":868},"await evo.roma.transfer(plate, target=plate_carrier[2])\n",[824,1599,1600],{"__ignoreMap":868},[872,1601,1602,1604,1606,1608,1610,1612,1615,1617,1619,1621,1624,1626,1628,1630,1633],{"class":874,"line":875},[872,1603,993],{"class":878},[872,1605,996],{"class":882},[872,1607,827],{"class":886},[872,1609,1042],{"class":1169},[872,1611,827],{"class":886},[872,1613,1614],{"class":936},"transfer",[872,1616,959],{"class":886},[872,1618,1254],{"class":936},[872,1620,976],{"class":886},[872,1622,1623],{"class":962}," target",[872,1625,933],{"class":886},[872,1627,1143],{"class":936},[872,1629,1146],{"class":886},[872,1631,1632],{"class":1149},"2",[872,1634,1564],{"class":886},[820,1636,1637,1640],{},[824,1638,1639],{},"transfer_from()"," moves labware between two sites without needing a reference to the labware object:",[863,1642,1644],{"className":865,"code":1643,"language":867,"meta":868,"style":868},"await evo.roma.transfer_from(\n    source=plate_carrier[2],\n    target=plate_carrier[0],\n)\n",[824,1645,1646,1664,1680,1695],{"__ignoreMap":868},[872,1647,1648,1650,1652,1654,1656,1658,1661],{"class":874,"line":875},[872,1649,993],{"class":878},[872,1651,996],{"class":882},[872,1653,827],{"class":886},[872,1655,1042],{"class":1169},[872,1657,827],{"class":886},[872,1659,1660],{"class":936},"transfer_from",[872,1662,1663],{"class":886},"(\n",[872,1665,1666,1669,1671,1673,1675,1677],{"class":874,"line":898},[872,1667,1668],{"class":962},"    source",[872,1670,933],{"class":886},[872,1672,1143],{"class":936},[872,1674,1146],{"class":886},[872,1676,1632],{"class":1149},[872,1678,1679],{"class":886},"],\n",[872,1681,1682,1685,1687,1689,1691,1693],{"class":874,"line":920},[872,1683,1684],{"class":962},"    target",[872,1686,933],{"class":886},[872,1688,1143],{"class":936},[872,1690,1146],{"class":886},[872,1692,1150],{"class":1149},[872,1694,1679],{"class":886},[872,1696,1697],{"class":874,"line":927},[872,1698,987],{"class":886},[858,1700,1702],{"id":1701},"gripper-fingers","Gripper Fingers",[820,1704,1705],{},"Open or close the fingers directly, independent of a pick up\u002Fput down operation.",[863,1707,1709],{"className":865,"code":1708,"language":867,"meta":868,"style":868},"# Open to a specific width (mm, finger to finger)\nawait evo.roma.open_to(width=100)\n\n# Close onto a plate; searches for it under the configured current limit\nawait evo.roma.close_to(width=80)\n\n# Current opening width\nwidth = await evo.roma.current_grip_width()\n\n# Reachable travel limits (finger to finger), in mm\nlower, upper = await evo.roma.get_gripper_machine_range()\n",[824,1710,1711,1717,1744,1748,1753,1779,1783,1788,1810,1814,1820],{"__ignoreMap":868},[872,1712,1713],{"class":874,"line":875},[872,1714,1716],{"class":1715},"sHwdD","# Open to a specific width (mm, finger to finger)\n",[872,1718,1719,1721,1723,1725,1727,1729,1732,1734,1737,1739,1742],{"class":874,"line":898},[872,1720,993],{"class":878},[872,1722,996],{"class":882},[872,1724,827],{"class":886},[872,1726,1042],{"class":1169},[872,1728,827],{"class":886},[872,1730,1731],{"class":936},"open_to",[872,1733,959],{"class":886},[872,1735,1736],{"class":962},"width",[872,1738,933],{"class":886},[872,1740,1741],{"class":1149},"100",[872,1743,987],{"class":886},[872,1745,1746],{"class":874,"line":920},[872,1747,924],{"emptyLinePlaceholder":923},[872,1749,1750],{"class":874,"line":927},[872,1751,1752],{"class":1715},"# Close onto a plate; searches for it under the configured current limit\n",[872,1754,1755,1757,1759,1761,1763,1765,1768,1770,1772,1774,1777],{"class":874,"line":943},[872,1756,993],{"class":878},[872,1758,996],{"class":882},[872,1760,827],{"class":886},[872,1762,1042],{"class":1169},[872,1764,827],{"class":886},[872,1766,1767],{"class":936},"close_to",[872,1769,959],{"class":886},[872,1771,1736],{"class":962},[872,1773,933],{"class":886},[872,1775,1776],{"class":1149},"80",[872,1778,987],{"class":886},[872,1780,1781],{"class":874,"line":948},[872,1782,924],{"emptyLinePlaceholder":923},[872,1784,1785],{"class":874,"line":990},[872,1786,1787],{"class":1715},"# Current opening width\n",[872,1789,1790,1793,1795,1797,1799,1801,1803,1805,1808],{"class":874,"line":1006},[872,1791,1792],{"class":882},"width ",[872,1794,933],{"class":886},[872,1796,1307],{"class":878},[872,1798,996],{"class":882},[872,1800,827],{"class":886},[872,1802,1042],{"class":1169},[872,1804,827],{"class":886},[872,1806,1807],{"class":936},"current_grip_width",[872,1809,940],{"class":886},[872,1811,1812],{"class":874,"line":1020},[872,1813,924],{"emptyLinePlaceholder":923},[872,1815,1817],{"class":874,"line":1816},10,[872,1818,1819],{"class":1715},"# Reachable travel limits (finger to finger), in mm\n",[872,1821,1823,1826,1828,1831,1833,1835,1837,1839,1841,1843,1846],{"class":874,"line":1822},11,[872,1824,1825],{"class":882},"lower",[872,1827,976],{"class":886},[872,1829,1830],{"class":882}," upper ",[872,1832,933],{"class":886},[872,1834,1307],{"class":878},[872,1836,996],{"class":882},[872,1838,827],{"class":886},[872,1840,1042],{"class":1169},[872,1842,827],{"class":886},[872,1844,1845],{"class":936},"get_gripper_machine_range",[872,1847,940],{"class":886},[816,1849,1850],{"icon":1381},[820,1851,1852,1855,1856,1859,1860,1863,1864,1867],{},[824,1853,1854],{},"close_to()","\u002F",[824,1857,1858],{},"close_by()"," raise a ",[824,1861,1862],{},"RuntimeError"," if the gripper is already holding labware — release it with ",[824,1865,1866],{},"open_to()"," first.",[816,1869,1870],{"icon":1381},[820,1871,1872,1873,1875,1876,1879,1880,1883,1884,1886,1887,1889,1890,1892],{},"Calling ",[824,1874,1866],{}," while the gripper is holding labware unassigns the labware from the gripper — it's no longer attached to any carrier site either, so you must manually reassign it by calling ",[824,1877,1878],{},"assign()"," on the target site (e.g. ",[824,1881,1882],{},"plate_carrier[1].assign(plate)","). Prefer ",[824,1885,1409],{}," over ",[824,1888,1866],{}," for placing labware, since it does this internally; using ",[824,1891,1866],{}," to release labware is mainly for error recovery.",[820,1894,1895],{},"Configure the grip search parameters:",[863,1897,1899],{"className":865,"code":1898,"language":867,"meta":868,"style":868},"await evo.roma.set_gripper_parameters(\n    speed=50,          # search speed while closing, in mm\u002Fs (0.1-150)\n    pwm_limit=100,     # gripper PWM limit (0-249)\n    current_limit=2,   # grip strength as current limit (0-3)\n)\n",[824,1900,1901,1918,1933,1947,1961],{"__ignoreMap":868},[872,1902,1903,1905,1907,1909,1911,1913,1916],{"class":874,"line":875},[872,1904,993],{"class":878},[872,1906,996],{"class":882},[872,1908,827],{"class":886},[872,1910,1042],{"class":1169},[872,1912,827],{"class":886},[872,1914,1915],{"class":936},"set_gripper_parameters",[872,1917,1663],{"class":886},[872,1919,1920,1923,1925,1928,1930],{"class":874,"line":898},[872,1921,1922],{"class":962},"    speed",[872,1924,933],{"class":886},[872,1926,1927],{"class":1149},"50",[872,1929,976],{"class":886},[872,1931,1932],{"class":1715},"          # search speed while closing, in mm\u002Fs (0.1-150)\n",[872,1934,1935,1938,1940,1942,1944],{"class":874,"line":920},[872,1936,1937],{"class":962},"    pwm_limit",[872,1939,933],{"class":886},[872,1941,1741],{"class":1149},[872,1943,976],{"class":886},[872,1945,1946],{"class":1715},"     # gripper PWM limit (0-249)\n",[872,1948,1949,1952,1954,1956,1958],{"class":874,"line":927},[872,1950,1951],{"class":962},"    current_limit",[872,1953,933],{"class":886},[872,1955,1632],{"class":1149},[872,1957,976],{"class":886},[872,1959,1960],{"class":1715},"   # grip strength as current limit (0-3)\n",[872,1962,1963],{"class":874,"line":943},[872,1964,987],{"class":886},[858,1966,1968],{"id":1967},"arm-movement","Arm Movement",[820,1970,1971],{},"Move the RoMa body directly by absolute location or relative offset.",[863,1973,1975],{"className":865,"code":1974,"language":867,"meta":868,"style":868},"from unitelabs.labware import Vector\n\nawait evo.roma.move_to(location=Vector(x=200, y=150, z=100), rotation=0)\nawait evo.roma.move_by(offset=Vector(z=-10), rotation_offset=90)\n",[824,1976,1977,1993,1997,2063],{"__ignoreMap":868},[872,1978,1979,1981,1983,1985,1988,1990],{"class":874,"line":875},[872,1980,879],{"class":878},[872,1982,883],{"class":882},[872,1984,827],{"class":886},[872,1986,1987],{"class":882},"labware ",[872,1989,892],{"class":878},[872,1991,1992],{"class":882}," Vector\n",[872,1994,1995],{"class":874,"line":898},[872,1996,924],{"emptyLinePlaceholder":923},[872,1998,1999,2001,2003,2005,2007,2009,2012,2014,2017,2019,2022,2024,2027,2029,2032,2034,2037,2039,2042,2044,2047,2049,2051,2054,2057,2059,2061],{"class":874,"line":920},[872,2000,993],{"class":878},[872,2002,996],{"class":882},[872,2004,827],{"class":886},[872,2006,1042],{"class":1169},[872,2008,827],{"class":886},[872,2010,2011],{"class":936},"move_to",[872,2013,959],{"class":886},[872,2015,2016],{"class":962},"location",[872,2018,933],{"class":886},[872,2020,2021],{"class":936},"Vector",[872,2023,959],{"class":886},[872,2025,2026],{"class":962},"x",[872,2028,933],{"class":886},[872,2030,2031],{"class":1149},"200",[872,2033,976],{"class":886},[872,2035,2036],{"class":962}," y",[872,2038,933],{"class":886},[872,2040,2041],{"class":1149},"150",[872,2043,976],{"class":886},[872,2045,2046],{"class":962}," z",[872,2048,933],{"class":886},[872,2050,1741],{"class":1149},[872,2052,2053],{"class":886},"),",[872,2055,2056],{"class":962}," rotation",[872,2058,933],{"class":886},[872,2060,1150],{"class":1149},[872,2062,987],{"class":886},[872,2064,2065,2067,2069,2071,2073,2075,2078,2080,2083,2085,2087,2089,2092,2095,2098,2100,2103,2105,2108],{"class":874,"line":927},[872,2066,993],{"class":878},[872,2068,996],{"class":882},[872,2070,827],{"class":886},[872,2072,1042],{"class":1169},[872,2074,827],{"class":886},[872,2076,2077],{"class":936},"move_by",[872,2079,959],{"class":886},[872,2081,2082],{"class":962},"offset",[872,2084,933],{"class":886},[872,2086,2021],{"class":936},[872,2088,959],{"class":886},[872,2090,2091],{"class":962},"z",[872,2093,2094],{"class":886},"=-",[872,2096,2097],{"class":1149},"10",[872,2099,2053],{"class":886},[872,2101,2102],{"class":962}," rotation_offset",[872,2104,933],{"class":886},[872,2106,2107],{"class":1149},"90",[872,2109,987],{"class":886},[863,2111,2113],{"className":865,"code":2112,"language":867,"meta":868,"style":868},"location = await evo.roma.current_location()\nrotation = await evo.roma.current_rotation()\ndirection = await evo.roma.current_direction()  # nearest ApproachDirection within 90°\n",[824,2114,2115,2137,2159],{"__ignoreMap":868},[872,2116,2117,2120,2122,2124,2126,2128,2130,2132,2135],{"class":874,"line":875},[872,2118,2119],{"class":882},"location ",[872,2121,933],{"class":886},[872,2123,1307],{"class":878},[872,2125,996],{"class":882},[872,2127,827],{"class":886},[872,2129,1042],{"class":1169},[872,2131,827],{"class":886},[872,2133,2134],{"class":936},"current_location",[872,2136,940],{"class":886},[872,2138,2139,2142,2144,2146,2148,2150,2152,2154,2157],{"class":874,"line":898},[872,2140,2141],{"class":882},"rotation ",[872,2143,933],{"class":886},[872,2145,1307],{"class":878},[872,2147,996],{"class":882},[872,2149,827],{"class":886},[872,2151,1042],{"class":1169},[872,2153,827],{"class":886},[872,2155,2156],{"class":936},"current_rotation",[872,2158,940],{"class":886},[872,2160,2161,2164,2166,2168,2170,2172,2174,2176,2179,2181],{"class":874,"line":920},[872,2162,2163],{"class":882},"direction ",[872,2165,933],{"class":886},[872,2167,1307],{"class":878},[872,2169,996],{"class":882},[872,2171,827],{"class":886},[872,2173,1042],{"class":1169},[872,2175,827],{"class":886},[872,2177,2178],{"class":936},"current_direction",[872,2180,1295],{"class":886},[872,2182,2183],{"class":1715},"  # nearest ApproachDirection within 90°\n",[858,2185,2187],{"id":2186},"initialization-variants","Initialization Variants",[820,2189,2190,2191,2194,2195,827],{},"If a standard ",[824,2192,2193],{},"initialize()"," fails due to an obstruction at the rear, bring the arm to the front first with ",[824,2196,2197],{},"two_step_initialize()",[863,2199,2201],{"className":865,"code":2200,"language":867,"meta":868,"style":868},"await evo.roma.two_step_initialize()\n",[824,2202,2203],{"__ignoreMap":868},[872,2204,2205,2207,2209,2211,2213,2215,2218],{"class":874,"line":875},[872,2206,993],{"class":878},[872,2208,996],{"class":882},[872,2210,827],{"class":886},[872,2212,1042],{"class":1169},[872,2214,827],{"class":886},[872,2216,2217],{"class":936},"two_step_initialize",[872,2219,940],{"class":886},[863,2221,2223],{"className":865,"code":2222,"language":867,"meta":868,"style":868},"errors = await evo.roma.get_extended_error()  # per-axis (X, Y, Z, R, G) error codes\n",[824,2224,2225],{"__ignoreMap":868},[872,2226,2227,2230,2232,2234,2236,2238,2240,2242,2245,2247],{"class":874,"line":875},[872,2228,2229],{"class":882},"errors ",[872,2231,933],{"class":886},[872,2233,1307],{"class":878},[872,2235,996],{"class":882},[872,2237,827],{"class":886},[872,2239,1042],{"class":1169},[872,2241,827],{"class":886},[872,2243,2244],{"class":936},"get_extended_error",[872,2246,1295],{"class":886},[872,2248,2249],{"class":1715},"  # per-axis (X, Y, Z, R, G) error codes\n",[858,2251,2253],{"id":2252},"troubleshooting","Troubleshooting",[2255,2256,2258,2279,2297],"u-accordion",{":items":2257},"[{\"label\":\"The gripper missed the plate or gripped nothing\",\"slot\":\"missed-grip\"},{\"label\":\"ValueError about the reachable range\",\"slot\":\"out-of-range\"},{\"label\":\"RoMa fails to initialize\",\"slot\":\"init-fails\"}]",[2259,2260,2261],"template",{"v-slot:missed-grip":868},[820,2262,2263,1855,2265,2267,2268,2271,2272,2275,2276,2278],{},[824,2264,1854],{},[824,2266,1201],{}," search for the plate under the configured current limit rather than driving straight to the target width — a ",[824,2269,2270],{},"ProcessError"," is raised if the gripper closes past the target without finding it. Adjust ",[824,2273,2274],{},"set_gripper_parameters()"," or use ",[824,2277,1357],{}," to fine-tune the approach position.",[2259,2280,2281],{"v-slot:out-of-range":868},[820,2282,2283,2285,2286,2288,2289,2292,2293,2296],{},[824,2284,1201],{}," and ",[824,2287,1409],{}," validate the resolved location against the RoMa's calibrated machine range before moving, and raise a ",[824,2290,2291],{},"ValueError"," naming the offending axis if it falls outside. Check the target deck-site's track placement. Note that ",[824,2294,2295],{},"move_to()"," does not perform this validation — a direct arm movement outside the machine range fails at the device instead.",[2259,2298,2299],{"v-slot:init-fails":868},[820,2300,2301,2302,2304,2305,2307],{},"If the arm collides with something at the rear during a normal ",[824,2303,2193],{},", use ",[824,2306,2197],{}," instead — it brings the arm to the front before running the axis initialization sequence.",[2309,2310,2311],"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 .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 .sfazB, html code.shiki .sfazB{--shiki-light:#91B859;--shiki-default:#C3E88D;--shiki-dark:#C3E88D}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 .sbssI, html code.shiki .sbssI{--shiki-light:#F76D47;--shiki-default:#F78C6C;--shiki-dark:#F78C6C}html pre.shiki code .swJcz, html code.shiki .swJcz{--shiki-light:#E53935;--shiki-default:#F07178;--shiki-dark:#F07178}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}",{"title":868,"searchDepth":875,"depth":898,"links":2313},[2314,2315,2316,2317,2318,2319,2320,2321,2322],{"id":860,"depth":898,"text":861},{"id":1050,"depth":898,"text":1051},{"id":1194,"depth":898,"text":1195},{"id":1402,"depth":898,"text":1403},{"id":1527,"depth":898,"text":1528},{"id":1701,"depth":898,"text":1702},{"id":1967,"depth":898,"text":1968},{"id":2186,"depth":898,"text":2187},{"id":2252,"depth":898,"text":2253},"Moving labware around the deck with the Tecan Freedom EVO's Robotic Manipulator Arm.","md",null,{},"\u002Foperate\u002Fdevices\u002Ftecan-freedom-evo\u002Fusing-the-gripper",{"title":413,"description":2323},"bqCC_u0ZXupFtLMsNvMV3NHVHgwiIS6dYIkpQeYSleg",[2331,2333],{"title":271,"path":410,"stem":411,"description":2332,"children":-1},"Aspirating and dispensing with the Tecan Freedom EVO MCA96 head.",{"title":204,"path":417,"stem":418,"description":2334,"children":-1},"Using and customizing liquid classes for the Tecan Freedom EVO.",1787302990441]