I have a Vantage with a single arm, 8 1000ul channels and a QCG. For my application I need to move the gripper in Y and then open the gripper. In the motion it is not possible to move in Z because I need to place a plate. So I have to pre-position first and then move in Y to the end position.
The 1000ul channel CO-RE Move Plate is not possible because it goes up and down.
The 1000ul channel Move To Position does not work because the system blocks the remaining 4 channels and gives an error.
I have tried the firmware commands “Move plate to position using CoRe gripper, A1P1DHyj2000” which does not work and “Position single PIP channel in Y direction, A1P1DVyj2000” which also does not work.
The same with the Open CoRe gripper command A1P1DO.
It feels like the Vantage is in a different state when the QCG is attached.
Hi Nico,
From the sounds of it it seems you want to minimize the Z movement of the QCG. I highly suggest proceeding with caution as this can lead to severe damage.
The Z sensors on a vantage are really good at detecting a collision, even the X is good at detecting collision but the Y direction will not ever detect a collision.
This is my first hand observation, there might be sensors but they certainly have a high level of impact in order to throw an error in the Y direction. I’ve seen sheering of tips, grips and pistons when this doesn’t go well; a very costly mistake.
Moving a plate up and then over is based on the traverse height to be able to make sure the plate or labware has clearance. As I’m sure you know Hamilton does not cover damage when using firmware commands, I would highly suggest talking to your FSE or Apps Development engineer on this project.
I’m sure you have a great rationale for this but again the Y direction is a different type of animal, with almost no safety guards so please be careful!!