RQA-2235 if z_L is disengaged before moving to maintenance pos, home z_l

Opentrons · Jan 23, 2024 · e2b7eb8 · e2b7eb8
1 parent f194576
commit e2b7eb8
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/api/src/opentrons/protocol_engine/commands/calibration/move_to_maintenance_position.py b/api/src/opentrons/protocol_engine/commands/calibration/move_to_maintenance_position.py
@@ -80,6 +80,11 @@ async def execute(
         ot3_api = ensure_ot3_hardware(
             self._hardware_api,
         )
+        # the 96-channel mount is disengaged during gripper calibration and
+        #  must be homed before the gantry position can be called
+        if not ot3_api.backend.check_motor_status([Axis.Z_L]) and \
+            ot3_api.backend.check_encoder_status([Axis.Z_L]):
+            await ot3_api.home([Axis.Z_L])
         current_position_mount = await ot3_api.gantry_position(
             Mount.LEFT, critical_point=CriticalPoint.MOUNT
         )