diff --git a/api/src/opentrons/protocol_api/core/engine/robot.py b/api/src/opentrons/protocol_api/core/engine/robot.py
index 7deabff0571..477f1968c5a 100644
--- a/api/src/opentrons/protocol_api/core/engine/robot.py
+++ b/api/src/opentrons/protocol_api/core/engine/robot.py
@@ -17,7 +17,7 @@
     AxisType.Z_R: MotorAxis.RIGHT_Z,
     AxisType.Z_G: MotorAxis.EXTENSION_Z,
     AxisType.G: MotorAxis.EXTENSION_JAW,
-    AxisType.Q: MotorAxis.CLAMP_JAW_96_CHANNEL,
+    AxisType.Q: MotorAxis.AXIS_96_CHANNEL_CAM,
 }
 
 
diff --git a/api/src/opentrons/protocol_api/validation.py b/api/src/opentrons/protocol_api/validation.py
index 6b491d7e9b4..1f8fb4bd8c8 100644
--- a/api/src/opentrons/protocol_api/validation.py
+++ b/api/src/opentrons/protocol_api/validation.py
@@ -260,9 +260,9 @@ def ensure_only_gantry_axis_map_type(
                 f"A critical point only accepts OT-2 gantry axes which are {AxisType.ot2_gantry_axes()}"
             )
     else:
-        if any(k not in AxisType.ot3_gantry_axes() for k in axis_map.keys()):
+        if any(k not in AxisType.flex_gantry_axes() for k in axis_map.keys()):
             raise IncorrectAxisError(
-                f"A critical point only accepts Flex gantry axes which are {AxisType.ot3_gantry_axes()}"
+                f"A critical point only accepts Flex gantry axes which are {AxisType.flex_gantry_axes()}"
             )
 
 
diff --git a/api/src/opentrons/protocol_engine/execution/gantry_mover.py b/api/src/opentrons/protocol_engine/execution/gantry_mover.py
index 05680ca46b9..7306bc4e4d1 100644
--- a/api/src/opentrons/protocol_engine/execution/gantry_mover.py
+++ b/api/src/opentrons/protocol_engine/execution/gantry_mover.py
@@ -74,6 +74,8 @@
 # That OT3Simulator return value is what Protocol Engine uses for simulation when Protocol Engine
 # is configured to not virtualize pipettes, so this number should match it.
 VIRTUAL_MAX_OT3_HEIGHT = 248.0
+# This number was found by using the longest pipette's P1000V2 default configuration values.
+VIRTUAL_MAX_OT2_HEIGHT = 268.14
 
 
 class GantryMover(TypingProtocol):
@@ -544,8 +546,10 @@ def get_max_travel_z_from_mount(self, mount: MountType) -> float:
         """Get the maximum allowed z-height for mount."""
         pipette = self._state_view.pipettes.get_by_mount(mount)
         if self._state_view.config.robot_type == "OT-2 Standard":
-            instrument_height = self._state_view.pipettes.get_instrument_max_height_ot2(
-                pipette.id
+            instrument_height = (
+                self._state_view.pipettes.get_instrument_max_height_ot2(pipette.id)
+                if pipette
+                else VIRTUAL_MAX_OT2_HEIGHT
             )
         else:
             instrument_height = VIRTUAL_MAX_OT3_HEIGHT
diff --git a/api/tests/opentrons/protocol_api/test_robot_context.py b/api/tests/opentrons/protocol_api/test_robot_context.py
index 3e0be14b865..c1bdfe48c3f 100644
--- a/api/tests/opentrons/protocol_api/test_robot_context.py
+++ b/api/tests/opentrons/protocol_api/test_robot_context.py
@@ -15,7 +15,7 @@
 )
 from opentrons.protocols.api_support.types import APIVersion
 from opentrons.protocol_api.core.common import ProtocolCore, RobotCore
-from opentrons.protocol_api import RobotContext, ModuleContext, MAX_SUPPORTED_VERSION
+from opentrons.protocol_api import RobotContext, ModuleContext
 from opentrons.protocol_api.deck import Deck
 
 
@@ -28,7 +28,7 @@ def mock_core(decoy: Decoy) -> RobotCore:
 @pytest.fixture
 def api_version() -> APIVersion:
     """Get the API version to test at."""
-    return MAX_SUPPORTED_VERSION
+    return APIVersion(2, 22)
 
 
 @pytest.fixture