check only last moved mount

Opentrons · Feb 7, 2024 · 104af1b · 104af1b
1 parent f1120b4
commit 104af1b
Showing 1 changed file with 8 additions and 4 deletions.
diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py
@@ -259,9 +259,10 @@ def is_idle_mount(self, mount: Union[top_types.Mount, OT3Mount]) -> bool:
         if not self._last_moved_mount or realmount == self._last_moved_mount:
             return False
 
-        return (realmount == OT3Mount.LEFT and self._gantry_load == GantryLoad.HIGH_THROUGHPUT) or (
-            realmount == OT3Mount.GRIPPER
-        )
+        return (
+            realmount == OT3Mount.LEFT
+            and self._gantry_load == GantryLoad.HIGH_THROUGHPUT
+        ) or (realmount == OT3Mount.GRIPPER)
 
     @property
     def door_state(self) -> DoorState:
@@ -1307,7 +1308,10 @@ async def _cache_and_maybe_retract_mount(self, mount: OT3Mount) -> None:
 
             # disengage Axis.Z_L motor and engage the brake to lower power
             # consumption and reduce the chance of the 96-channel pipette dropping
-            if self.is_idle_mount(OT3Mount.LEFT):
+            if (
+                self.gantry_load == GantryLoad.HIGH_THROUGHPUT
+                and self._last_moved_mount == OT3Mount.LEFT
+            ):
                 await self.disengage_axes([Axis.Z_L])
 
             # disegnage Axis.Z_G when we can to reduce the chance of