From fad80f027608940f52bbe86cd481242b219b94e8 Mon Sep 17 00:00:00 2001 From: Andy Sigler Date: Tue, 6 Aug 2024 12:08:13 -0400 Subject: [PATCH] lower probe speed from 20 to 15mm/sec --- api/src/opentrons/config/defaults_ot3.py | 2 +- api/src/opentrons/hardware_control/ot3api.py | 5 +++-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/api/src/opentrons/config/defaults_ot3.py b/api/src/opentrons/config/defaults_ot3.py index b09235ce35b..dfea2fd3c87 100644 --- a/api/src/opentrons/config/defaults_ot3.py +++ b/api/src/opentrons/config/defaults_ot3.py @@ -24,7 +24,7 @@ DEFAULT_LIQUID_PROBE_SETTINGS: Final[LiquidProbeSettings] = LiquidProbeSettings( mount_speed=5, - plunger_speed=20, + plunger_speed=15, plunger_impulse_time=0.2, sensor_threshold_pascals=15, output_option=OutputOptions.sync_buffer_to_csv, diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py index 5f9c9840834..513df83de7c 100644 --- a/api/src/opentrons/hardware_control/ot3api.py +++ b/api/src/opentrons/hardware_control/ot3api.py @@ -2689,6 +2689,7 @@ async def liquid_probe( ) # We need to significatly slow down the 96 channel liquid probe + # TODO: (sigler) add LLD plunger-speed to pipette definitions if self.gantry_load == GantryLoad.HIGH_THROUGHPUT: max_plunger_speed = self.config.motion_settings.max_speed_discontinuity[ GantryLoad.HIGH_THROUGHPUT @@ -2700,7 +2701,7 @@ async def liquid_probe( p_working_mm = p_total_mm - (instrument.backlash_distance + p_impulse_mm) # height where probe action will begin - # TODO: (sigler) add this to pipette's liquid def (per tip) + # TODO: (sigler) add pass-overlap distance to pipette's liquid def (per tip) probe_pass_overlap_mm = 0.1 non_responsive_z_mm = OT3API.liquid_probe_non_responsive_z_distance( probe_settings.mount_speed @@ -2709,7 +2710,7 @@ async def liquid_probe( # height that is considered safe to reset the plunger without disturbing liquid # this usually needs to at least 1-2mm from liquid, to avoid splashes from air - # TODO: (sigler) add this to pipette's liquid def (per tip) + # TODO: (sigler) add safe-reset distance to pipette's liquid def (per tip) probe_safe_reset_mm = max(2.0, probe_pass_z_offset_mm) error: Optional[PipetteLiquidNotFoundError] = None