fix(api, hardware-testing): update plunger speed/currents (#12987)

Opentrons · Jun 27, 2023 · 4b2cd5c · 4b2cd5c
1 parent a150b55
commit 4b2cd5c
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Showing 3 changed files with 11 additions and 33 deletions.
diff --git a/api/src/opentrons/config/defaults_ot3.py b/api/src/opentrons/config/defaults_ot3.py
@@ -84,15 +84,15 @@
         OT3AxisKind.X: 400,
         OT3AxisKind.Y: 325,
         OT3AxisKind.Z: 35,
-        OT3AxisKind.P: 5,
+        OT3AxisKind.P: 15,
         OT3AxisKind.Z_G: 50,
         OT3AxisKind.Q: 5.5,
     },
     low_throughput={
         OT3AxisKind.X: 400,
         OT3AxisKind.Y: 325,
         OT3AxisKind.Z: 100,
-        OT3AxisKind.P: 45,
+        OT3AxisKind.P: 70,
         OT3AxisKind.Z_G: 50,
     },
 )
@@ -178,7 +178,7 @@
         OT3AxisKind.X: 1.25,
         OT3AxisKind.Y: 1.4,
         OT3AxisKind.Z: 1.5,
-        OT3AxisKind.P: 2.2,
+        OT3AxisKind.P: 0.8,
         OT3AxisKind.Z_G: 0.67,
         OT3AxisKind.Q: 1.5,
     },

diff --git a/hardware-testing/hardware_testing/gravimetric/overrides/api.patch b/hardware-testing/hardware_testing/gravimetric/overrides/api.patch
@@ -7,44 +7,31 @@ diff --git a/api/src/opentrons/config/defaults_ot3.py b/api/src/opentrons/config
 index 7d5560b54a..ecd2656f1e 100644
 --- a/api/src/opentrons/config/defaults_ot3.py
 +++ b/api/src/opentrons/config/defaults_ot3.py
-@@ -84,7 +84,7 @@ DEFAULT_MAX_SPEEDS: Final[ByGantryLoad[Dict[OT3AxisKind, float]]] = ByGantryLoad
-         OT3AxisKind.X: 400,
-         OT3AxisKind.Y: 325,
-         OT3AxisKind.Z: 35,
--        OT3AxisKind.P: 5,
-+        OT3AxisKind.P: 15,
-         OT3AxisKind.Z_G: 50,
-         OT3AxisKind.Q: 5.5,
-     },
 @@ -92,25 +92,25 @@ DEFAULT_MAX_SPEEDS: Final[ByGantryLoad[Dict[OT3AxisKind, float]]] = ByGantryLoad
          OT3AxisKind.X: 400,
          OT3AxisKind.Y: 325,
          OT3AxisKind.Z: 100,
--        OT3AxisKind.P: 45,
-+        OT3AxisKind.P: 70,
+         OT3AxisKind.P: 70,
          OT3AxisKind.Z_G: 50,
      },
  )
 
  DEFAULT_ACCELERATIONS: Final[ByGantryLoad[Dict[OT3AxisKind, float]]] = ByGantryLoad(
      high_throughput={
--        OT3AxisKind.X: 800,
-+        OT3AxisKind.X: 500,
+         OT3AxisKind.X: 800,
          OT3AxisKind.Y: 500,
          OT3AxisKind.Z: 150,
 -        OT3AxisKind.P: 30,
-+        OT3AxisKind.P: 1000,
++        OT3AxisKind.P: 1000,  # FIXME: move to liquid-class
          OT3AxisKind.Z_G: 150,
          OT3AxisKind.Q: 10,
      },
      low_throughput={
--        OT3AxisKind.X: 800,
--        OT3AxisKind.Y: 600,
-+        OT3AxisKind.X: 500,
-+        OT3AxisKind.Y: 200,
+         OT3AxisKind.X: 800,
+         OT3AxisKind.Y: 600,
          OT3AxisKind.Z: 150,
 -        OT3AxisKind.P: 100,
-+        OT3AxisKind.P: 1500,
++        OT3AxisKind.P: 1500,  # FIXME: move to liquid-class
          OT3AxisKind.Z_G: 150,
      },
  )
@@ -53,19 +40,10 @@ index 7d5560b54a..ecd2656f1e 100644
          OT3AxisKind.X: 10,
          OT3AxisKind.Y: 10,
 -        OT3AxisKind.Z: 5,
-+        OT3AxisKind.Z: 15,
++        OT3AxisKind.Z: 15,  # FIXME: move to liquid-class
          OT3AxisKind.P: 5,
          OT3AxisKind.Z_G: 10,
          OT3AxisKind.Q: 5,
-@@ -178,7 +178,7 @@ DEFAULT_RUN_CURRENT: Final[ByGantryLoad[Dict[OT3AxisKind, float]]] = ByGantryLoa
-         OT3AxisKind.X: 1.25,
-         OT3AxisKind.Y: 1.4,
-         OT3AxisKind.Z: 1.5,
--        OT3AxisKind.P: 2.2,
-+        OT3AxisKind.P: 0.8,
-         OT3AxisKind.Z_G: 0.67,
-         OT3AxisKind.Q: 1.5,
-     },
 diff --git a/api/src/opentrons/hardware_control/instruments/ot3/pipette.py b/api/src/opentrons/hardware_control/instruments/ot3/pipette.py
 index 815dada3b9..30121fc4c8 100644
 --- a/api/src/opentrons/hardware_control/instruments/ot3/pipette.py

diff --git a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_4.json b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_4.json
@@ -17,7 +17,7 @@
   },
   "plungerMotorConfigurations": {
     "idle": 0.3,
-    "run": 2.0
+    "run": 0.8
   },
   "plungerPositionsConfigurations": {
     "top": 0.5,