From e2b7eb8a9e7fed40a0183975a479040b8d133a7a Mon Sep 17 00:00:00 2001
From: ahiuchingau <20424172+ahiuchingau@users.noreply.github.com>
Date: Tue, 23 Jan 2024 17:45:42 -0500
Subject: [PATCH] RQA-2235 if z_L is disengaged before moving to maintenance
 pos, home z_l

---
 .../commands/calibration/move_to_maintenance_position.py     | 5 +++++
 1 file changed, 5 insertions(+)

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
index 464b177e980..ab4daeac568 100644
--- 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
         )