Module pyhamilton.defaultcmds
Built-in commands, definitions of their parameters, and defaults.
Expand source code
"""
Built-in commands, definitions of their parameters, and defaults.
"""
_channel_patt_16 = '1'*8 + '0'*8
_channel_patt_96 = '1'*96
_fan_port = 6
# on module load, scan COM ports to see if the usual fan COM number (6) has been reassigned by the OS
try:
import serial.tools.list_ports
for port in serial.tools.list_ports.comports():
port_parse = str(port).split(' ')
if 'Isolated' in port_parse and 'RS-485' in port_parse:
_fan_port = int(port_parse[0][-1])
except Exception:
pass
defaults_by_cmd = { # 'field':None indicates field is required when assembling command
'initialize':('INITIALIZE', {
'initializeAlways':0
}),
'channelTipPickUp':('PICKUP', {
'tipSequence':'', # (string) leave empty if you are going to provide specific labwarePositions below
'labwarePositions':'', # (string) leave empty if you are going to provide a sequence name above.'LabwareId1, positionId1; LabwareId2,positionId2; ....'
'channelVariable':_channel_patt_16, # (string) channel pattern e.g. '11110000'
'sequenceCounting':0, # (integer) 0=don´t autoincrement, 1=Autoincrement
'channelUse':1 # (integer) 1=use all sequence positions (no empty wells), 2=keep channel pattern
}),
'channelTipEject':('EJECT', {
'wasteSequence':'', # (string) leave empty if you are going to provide specific labware-positions below or ejecting to default waste
'labwarePositions':'', # (string) leave empty if you are going to provide a sequence name above.'LabwareId1, positionId1; LabwareId2,positionId2; ....'
'channelVariable':_channel_patt_16, # (string) channel pattern e.g. "11110000"
'sequenceCounting':0, # (integer) 0=don´t autoincrement, 1=Autoincrement. Value omitted if ejecting to default waste
'channelUse':1, # (integer) 1=use all sequence positions (no empty wells), 2=keep channel pattern
'useDefaultWaste':0 # (integer) 0=eject to custom waste sequence, 1=Use default waste
}),
'channelAspirate':('ASPIRATE', {
'aspirateSequence':'', # (string) leave empty if you are going to provide specific labware-positions below
'labwarePositions':'', # (string) leave empty if you are going to provide a sequence name above. 'LabwareId1, positionId1; LabwareId2,positionId2; ....'
'volumes':None, # (float or string) enter a single value used for all channels or enter an array of values for each channel like [10.0,15.5,11.2]
'channelVariable':_channel_patt_16, # (string) channel pattern e.g. "11110000"
'liquidClass':None, # (string)
'sequenceCounting':0, # (integer) 0=don´t autoincrement, 1=Autoincrement
'channelUse':1, # (integer) 1=use all sequence positions (no empty wells), 2=keep channel pattern
'aspirateMode':0, # (integer) 0=Normal Aspiration, 1=Consecutive (don´t aspirate blowout), 2=Aspirate all
'capacitiveLLD':0, # (integer) 0=Off, 1=Max, 2=High, 3=Mid, 4=Low, 5=From labware definition
'pressureLLD':0, # (integer) 0=Off, 1=Max, 2=High, 3=Mid, 4=Low, 5=From liquid class definition
'liquidFollowing':0, # (integer) 0=Off , 1=On
'submergeDepth':2.0, # (float) mm of immersion below liquid´s surface to start aspiration when using LLD
'liquidHeight':1.0, # (float) mm above container´s bottom to start aspiration when not using LLD
'maxLLdDifference':0.0, # (float) max mm height different between cLLD and pLLD detected liquid levels
'mixCycles':0, # (integer) number of mixing cycles (1 cycle = 1 asp + 1 disp)
'mixPosition':0.0, # (float) additional immersion mm below aspiration position to start mixing
'mixVolume':0.0, # (float) mix volume
'airTransportRetractDist':10.0, # (float) mm to move up in Z after finishing the aspiration at a fixed height before aspirating 'transport air'
'touchOff':0, # (integer) 0=Off , 1=On
'aspPosAboveTouch':0.0 # (float) mm to move up in Z after touch off detects the bottom before aspirating liquid
}),
'channelDispense':('DISPENSE', {
'dispenseSequence':'', # (string) leave empty if you are going to provide specific labware-positions below
'labwarePositions':'', # (string) leave empty if you are going to provide a sequence name above. 'LabwareId1, positionId1; LabwareId2,positionId2; ....'
'volumes':None, # (float or string) enter a single value used for all channels or enter an array of values for each channel like [10.0,15.5,11.2]
'channelVariable':_channel_patt_16, # (string) channel pattern e.g. "11110000"
'liquidClass':None, # (string)
'sequenceCounting':0, # (integer) 0=don´t autoincrement, 1=Autoincrement
'channelUse':1, # (integer) 1=use all sequence positions (no empty wells), 2=keep channel pattern
'dispenseMode':8, # (integer) 0=Jet Part, 1=Jet Empty, 2=Surface Part, 3=Surface Empty, 4=Jet Drain tip, 8=From liquid class, 9=Blowout tip
'capacitiveLLD':0, # (integer) 0=Off, 1=Max, 2=High, 3=Mid, 4=Low, 5=From labware definition
'liquidFollowing':0, # (integer) 0=Off , 1=On
'submergeDepth':2.0, # (float) mm of immersion below liquid´s surface to start dispense when using LLD
'liquidHeight':1.0, # (float) mm above container´s bottom to start dispense when not using LLD
'mixCycles':0, # (integer) number of mixing cycles (1 cycle = 1 asp + 1 disp)
'mixPosition':0.0, # (float) additional immersion mm below dispense position to start mixing
'mixVolume':0.0, # (float) mix volume
'airTransportRetractDist':10.0, # (float) mm to move up in Z after finishing the dispense at a fixed height before aspirating 'transport air'
'touchOff':0, # (integer) 0=Off , 1=On
'dispPositionAboveTouch':0.0, # (float) mm to move up in Z after touch off detects the bottom, before dispense
'zMoveAfterStep':0, # (integer) 0=normal, 1=Minimized (Attention!!! this depends on labware clearance height, can crash).
'sideTouch':0 # (integer) 0=Off , 1=On
}),
'mph96TipPickUp':('PICKUP96', {
'tipSequence':'', # (string) leave empty if you are going to provide specific labware-positions below
'labwarePositions':'', # (string) leave empty if you are going to provide a sequence name above. 'LabwareId1, positionId1; LabwareId2,positionId2; ....' Must contain 96 values
'channelVariable':_channel_patt_96, # (string) channel Variable e.g. "11110000...." . Must contain 96 values
'sequenceCounting':0, # (integer) 0=don´t autoincrement, 1=Autoincrement
'reducedPatternMode':0 # (integer) 0=All (not reduced), 1=One channel, 2=One row 3=One column
}),
'mph96TipEject':('EJECT96', {
'wasteSequence':'', # (string) leave empty if you are going to provide specific labware-positions below or ejecting to default waste
'labwarePositions':'', # (string) leave empty if you are going to provide a sequence name above. 'LabwareId1, positionId1; LabwareId2,positionId2; ....'
'channelVariable':_channel_patt_96, # (string) channel Variable e.g. "11110000...." . Must contain 96 values
'sequenceCounting':0, # (integer) 0=don´t autoincrement, 1=Autoincrement. Value omitted if ejecting to default waste
'tipEjectToKnownPosition':0 # (integer) 0=Eject to specified sequence position, 1=Eject on tip pick up position, 2=Eject on default waste
}),
'mph96Aspirate':('ASPIRATE96', {
'aspirateSequence':'', # (string) leave empty if you are going to provide specific labware-positions below
'labwarePositions':'', # (string) leave empty if you are going to provide a sequence name above. LabwareId1, positionId1; LabwareId2,positionId2; ....
'aspirateVolume':None, # (float) single volume used for all channels in the head. There´s no individual control of each channel volume in multi-probe heads.
'channelVariable':_channel_patt_96, # (string) channel Variable e.g. "11110000...." . Must contain 96 values
'liquidClass':None, # (string)
'sequenceCounting':0, # (integer) 0=don´t autoincrement, 1=Autoincrement
'aspirateMode':0, # (integer) 0=Normal Aspiration, 1=Consecutive (don´t aspirate blowout), 2=Aspirate all
'capacitiveLLD':0, # (integer) 0=Off, 1=Max, 2=High, 3=Mid, 4=Low, 5=From labware definition
'liquidFollowing':0, # (integer) 0=Off , 1=On
'submergeDepth':2.0, # (float) mm of immersion below liquid´s surface to start aspiration when using LLD
'liquidHeight':1.0, # (float) mm above container´s bottom to start aspiration when not using LLD
'mixCycles':0, # (integer) number of mixing cycles (1 cycle = 1 asp + 1 disp)
'mixPosition':0.0, # (float) additional immersion mm below aspiration position to start mixing
'mixVolume':0.0, # (float) mix volume
'airTransportRetractDist':10.0 # (float) mm to move up in Z after finishing the aspiration at a fixed height before aspirating 'transport air'
}),
'mph96Dispense':('DISPENSE96', {
'dispenseSequence':'', # (string) leave empty if you are going to provide specific labware-positions below
'labwarePositions':'', # (string) leave empty if you are going to provide a sequence name above. LabwareId1, positionId1; LabwareId2,positionId2; ....
'dispenseVolume':None, # (float) single volume used for all channels in the head. There´s no individual control of each channel volume in multi-probe heads.
'channelVariable':_channel_patt_96, # (string) channel Variable e.g. "11110000...." . Must contain 96 values
'liquidClass':None, # (string)
'sequenceCounting':0, # (integer) 0=don´t autoincrement, 1=Autoincrement
'dispenseMode':8, # (integer) 0=Jet Part, 1=Jet Empty, 2=Surface Part, 3=Surface Empty,4=Jet Drain tip, 8=From liquid class, 9=Blowout tip
'capacitiveLLD':0, # (integer) 0=Off, 1=Max, 2=High, 3=Mid, 4=Low, 5=From labware definition
'liquidFollowing':0, # (integer) 0=Off , 1=On
'submergeDepth':2.0, # (float) mm of immersion below liquid´s surface to start dispense when using LLD
'liquidHeight':1.0, # (float) mm above container´s bottom to start dispense when not using LLD
'mixCycles':0, # (integer) number of mixing cycles (1 cycle = 1 asp + 1 disp)
'mixPosition':0.0, # (float) additional immersion mm below dispense position to start mixing
'mixVolume':0.0, # (float) mix volume
'airTransportRetractDist':10.0, # (float) mm to move up in Z after finishing the dispense at a fixed height before aspirating 'transport air'
'zMoveAfterStep':0, # (integer) 0=normal, 1=Minimized (Attention!!! this depends on labware clearance height, can crash).
'sideTouch':0 # (integer) 0=Off , 1=On
}),
'iSwapGet':('ISWAP_GET', {
'plateSequence':'', # leave empty if you are going to provide specific plate labware-position below
'plateLabwarePositions':'', # leave empty if you are going to provide a plate sequence name above. LabwareId1, positionId1;
'lidSequence':'', # leave empty if you don´t use lid or if you are going to provide specific plate labware-positions below or ejecting to default waste
'lidLabwarePositions':'', # leave empty if you are going to provide a plate sequence name above. LabwareId1, positionId1;
'toolSequence':'', # sequence name of the iSWAP. leave empty if you are going to provide a plate sequence name above. LabwareId1, positionId1;
'sequenceCounting':0, # (integer) 0=don´t autoincrement plate sequence, 1=Autoincrement
'movementType':0, # (integer) 0=To carrier, 1=Complex movement
'transportMode':0, # (integer) 0=Plate only, 1=Lid only ,2=Plate with lid
'gripForce':4, # (integer) 2 (minimum) ... 9 (maximum)
'inverseGrip':0, # (integer) 0=Off, 1=On
'collisionControl':0, # (integer) 0=Off, 1=On
'gripMode':1, # (integer) 0=Small side, 1=Large side
'retractDistance':0.0, # (float) retract distance [mm] (only used if 'movement type' is set to 'complex movement')
'liftUpHeight':20.0, # (float) lift-up distance [mm] (only used if 'movement type' is set to 'complex movement')
'gripWidth':123.7, # (float) grip width when closed [mm]
'tolerance':2.0, # (float) tolerance [mm]
'gripHeight':3.0, # (float) height to grip above bottom of labware [mm]
'widthBefore':130.0 # (float) grip width when opened before grip [mm]
}),
'iSwapPlace':('ISWAP_PLACE', {
'plateSequence':'', # leave empty if you are going to provide specific plate labware-position below
'plateLabwarePositions':'', # leave empty if you are going to provide a plate sequence name above. LabwareId1, positionId1;
'lidSequence':'', # leave empty if you don´t use lid or if you are going to provide specific plate labware-positions below or ejecting to default waste
'lidLabwarePositions':'', # leave empty if you are going to provide a plate sequence name above. LabwareId1, positionId1;
'toolSequence':'', # sequence name of the iSWAP. leave empty if you are going to provide a plate sequence name above. LabwareId1, positionId1;
'sequenceCounting':0, # (integer) 0=don´t autoincrement plate sequence, 1=Autoincrement
'movementType':0, # (integer) 0=To carrier, 1=Complex movement
'transportMode':0, # (integer) 0=Plate only, 1=Lid only ,2=Plate with lid
'collisionControl':0, # (integer) 0=Off, 1=On
'retractDistance':0.0, # (float) retract distance [mm] (only used if 'movement type' is set to 'complex movement')
'liftUpHeight':20.0 # (float) lift-up distance [mm] (only used if 'movement type' is set to 'complex movement')
}),
'HxFanSet':('HEPA', {
'deviceNumber':_fan_port, # (integer) COM port number of fan
'persistant':1, # (integer) 0=don´t keep fan running after method exits, 1=keep settings after method exits
'fanSpeed':None, # (float) set percent of maximum fan speed
'simulate':0 #(integer) 0=normal mode, 1=use HxFan simulation mode
}),
'CORE96WashEmpty':('WASH96_EMPTY', {
'refillAfterEmpty':0, # (integer) 0=Don't refill, 1=Refill both chambers, 2=Refill chamber 1 only, 3=Refill chamber 2 only
'chamber1WashLiquid':0, # (integer) 0=Liquid 1 (red container), 1=liquid 2 (blue container)
'chamber1LiquidChange':0, # (integer) 0=No, 1=Yes TODO: What does this mean?
'chamber2WashLiquid':0, # (integer) 0=Liquid 1 (red container), 1=liquid 2 (blue container)
'chamber2LiquidChange':0, # (integer) 0=No, 1=Yes TODO: What does this mean?
})
}
"""All of the command names supported out of the box, mapped to their default params.
On module load, defaults_by_cmd is parsed into `HamiltonCmdTemplate`s, which are injected into the global package namespace under the first element of the values of this dict (strings in all caps). This is so that they can be imported directly from `pyhamilton` as module-level variables, while avoiding circular imports.
Example:
```
from pyhamilton import INITIALIZE
```
INITIALIZE
- initializeAlways (int)
0=only initialize components not already initialized, 1=always reinitialize all robot components
Default: 0
PICKUP
- tipSequence (string)
leave empty if you are going to provide specific labwarePositions below
Default: ''
- labwarePositions (string)
leave empty if you are going to provide a sequence name above.'LabwareId1, positionId1; LabwareId2,positionId2; ....'
Default: ''
- channelVariable (string)
channel pattern e.g. '11110000'
Default: _channel_patt_16
- sequenceCounting (integer)
0=don´t autoincrement, 1=Autoincrement
Default: 0
- channelUse (integer)
1=use all sequence positions (no empty wells), 2=keep channel pattern
Default: 1
EJECT
- wasteSequence (string)
leave empty if you are going to provide specific labware-positions below or ejecting to default waste
Default: ''
- labwarePositions (string)
leave empty if you are going to provide a sequence name above.'LabwareId1, positionId1; LabwareId2,positionId2; ....'
Default: ''
- channelVariable (string)
channel pattern e.g. "11110000"
Default: _channel_patt_16
- sequenceCounting (integer)
0=don´t autoincrement, 1=Autoincrement. Value omitted if ejecting to default waste
Default: 0
- channelUse (integer)
1=use all sequence positions (no empty wells), 2=keep channel pattern
Default: 1
- useDefaultWaste (integer)
0=eject to custom waste sequence, 1=Use default waste
Default: 0
ASPIRATE
- aspirateSequence (string)
leave empty if you are going to provide specific labware-positions below
Default: ''
- labwarePositions (string)
leave empty if you are going to provide a sequence name above. 'LabwareId1, positionId1; LabwareId2,positionId2; ....'
Default: ''
- volumes (float or string)
enter a single value used for all channels or enter an array of values for each channel like [10.0,15.5,11.2]
Default: None
- channelVariable (string)
channel pattern e.g. "11110000"
Default: _channel_patt_16
- liquidClass (string)
Default: None
- sequenceCounting (integer)
0=don´t autoincrement, 1=Autoincrement
Default: 0
- channelUse (integer)
1=use all sequence positions (no empty wells), 2=keep channel pattern
Default: 1
- aspirateMode (integer)
0=Normal Aspiration, 1=Consecutive (don´t aspirate blowout), 2=Aspirate all
Default: 0
- capacitiveLLD (integer)
0=Off, 1=Max, 2=High, 3=Mid, 4=Low, 5=From labware definition
Default: 0
- pressureLLD (integer)
0=Off, 1=Max, 2=High, 3=Mid, 4=Low, 5=From liquid class definition
Default: 0
- liquidFollowing (integer)
0=Off , 1=On
Default: 0
- submergeDepth (float)
mm of immersion below liquid´s surface to start aspiration when using LLD
Default: 2.0
- liquidHeight (float)
mm above container´s bottom to start aspiration when not using LLD
Default: 1.0
- maxLLdDifference (float)
max mm height different between cLLD and pLLD detected liquid levels
Default: 0.0
- mixCycles (integer)
number of mixing cycles (1 cycle = 1 asp + 1 disp)
Default: 0
- mixPosition (float)
additional immersion mm below aspiration position to start mixing
Default: 0.0
- mixVolume (float)
mix volume
Default: 0.0
- airTransportRetractDist (float)
mm to move up in Z after finishing the aspiration at a fixed height before aspirating 'transport air'
Default: 10.0
- touchOff (integer)
0=Off , 1=On
Default: 0
- aspPosAboveTouch (float)
mm to move up in Z after touch off detects the bottom before aspirating liquid
Default: 0.0
DISPENSE
- dispenseSequence (string)
leave empty if you are going to provide specific labware-positions below
Default: ''
- labwarePositions (string)
leave empty if you are going to provide a sequence name above. 'LabwareId1, positionId1; LabwareId2,positionId2; ....'
Default: ''
- volumes (float or string)
enter a single value used for all channels or enter an array of values for each channel like [10.0,15.5,11.2]
Default: None
- channelVariable (string)
channel pattern e.g. "11110000"
Default: _channel_patt_16
- liquidClass (string)
Default: None
- sequenceCounting (integer)
0=don´t autoincrement, 1=Autoincrement
Default: 0
- channelUse (integer)
1=use all sequence positions (no empty wells), 2=keep channel pattern
Default: 1
- dispenseMode (integer)
0=Jet Part, 1=Jet Empty, 2=Surface Part, 3=Surface Empty, 4=Jet Drain tip, 8=From liquid class, 9=Blowout tip
Default: 8
- capacitiveLLD (integer)
0=Off, 1=Max, 2=High, 3=Mid, 4=Low, 5=From labware definition
Default: 0
- liquidFollowing (integer)
0=Off , 1=On
Default: 0
- submergeDepth (float)
mm of immersion below liquid´s surface to start dispense when using LLD
Default: 2.0
- liquidHeight (float)
mm above container´s bottom to start dispense when not using LLD
Default: 1.0
- mixCycles (integer)
number of mixing cycles (1 cycle = 1 asp + 1 disp)
Default: 0
- mixPosition (float)
additional immersion mm below dispense position to start mixing
Default: 0.0
- mixVolume (float)
mix volume
Default: 0.0
- airTransportRetractDist (float)
mm to move up in Z after finishing the dispense at a fixed height before aspirating 'transport air'
Default: 10.0
- touchOff (integer)
0=Off , 1=On
Default: 0
- dispPositionAboveTouch (float)
mm to move up in Z after touch off detects the bottom, before dispense
Default: 0.0
- zMoveAfterStep (integer)
0=normal, 1=Minimized (Attention!!! this depends on labware clearance height, can crash).
Default: 0
- sideTouch (integer)
0=Off , 1=On
Default: 0
PICKUP96
- tipSequence (string)
leave empty if you are going to provide specific labware-positions below
Default: ''
- labwarePositions (string)
leave empty if you are going to provide a sequence name above. 'LabwareId1, positionId1; LabwareId2,positionId2; ....' Must contain 96 values
Default: ''
- channelVariable (string)
channel Variable e.g. "11110000...." . Must contain 96 values
Default: _channel_patt_96
- sequenceCounting (integer)
0=don´t autoincrement, 1=Autoincrement
Default: 0
- reducedPatternMode (integer)
0=All (not reduced), 1=One channel, 2=One row 3=One column
Default: 0
EJECT96
- wasteSequence (string)
leave empty if you are going to provide specific labware-positions below or ejecting to default waste
Default: ''
- labwarePositions (string)
leave empty if you are going to provide a sequence name above. 'LabwareId1, positionId1; LabwareId2,positionId2; ....'
Default: ''
- channelVariable (string)
channel Variable e.g. "11110000...." . Must contain 96 values
Default: _channel_patt_96
- sequenceCounting (integer)
0=don´t autoincrement, 1=Autoincrement. Value omitted if ejecting to default waste
Default: 0
- tipEjectToKnownPosition (integer)
0=Eject to specified sequence position, 1=Eject on tip pick up position, 2=Eject on default waste
Default: 0
ASPIRATE96
- aspirateSequence (string)
leave empty if you are going to provide specific labware-positions below
Default: ''
- labwarePositions (string)
leave empty if you are going to provide a sequence name above. LabwareId1, positionId1; LabwareId2,positionId2; ....
Default: ''
- aspirateVolume (float)
single volume used for all channels in the head. There´s no individual control of each channel volume in multi-probe heads.
Default: None
- channelVariable (string)
channel Variable e.g. "11110000...." . Must contain 96 values
Default: _channel_patt_96
- liquidClass (string)
Default: None
- sequenceCounting (integer)
0=don´t autoincrement, 1=Autoincrement
Default: 0
- aspirateMode (integer)
0=Normal Aspiration, 1=Consecutive (don´t aspirate blowout), 2=Aspirate all
Default: 0
- capacitiveLLD (integer)
0=Off, 1=Max, 2=High, 3=Mid, 4=Low, 5=From labware definition
Default: 0
- liquidFollowing (integer)
0=Off , 1=On
Default: 0
- submergeDepth (float)
mm of immersion below liquid´s surface to start aspiration when using LLD
Default: 2.0
- liquidHeight (float)
mm above container´s bottom to start aspiration when not using LLD
Default: 1.0
- mixCycles (integer)
number of mixing cycles (1 cycle = 1 asp + 1 disp)
Default: 0
- mixPosition (float)
additional immersion mm below aspiration position to start mixing
Default: 0.0
- mixVolume (float)
mix volume
Default: 0.0
- airTransportRetractDist (float)
mm to move up in Z after finishing the aspiration at a fixed height before aspirating 'transport air'
Default: 10.0
DISPENSE96
- dispenseSequence (string)
leave empty if you are going to provide specific labware-positions below
Default: ''
- labwarePositions (string)
leave empty if you are going to provide a sequence name above. LabwareId1, positionId1; LabwareId2,positionId2; ....
Default: ''
- dispenseVolume (float)
single volume used for all channels in the head. There´s no individual control of each channel volume in multi-probe heads.
Default: None
- channelVariable (string)
channel Variable e.g. "11110000...." . Must contain 96 values
Default: _channel_patt_96
- liquidClass (string)
Default: None
- sequenceCounting (integer)
0=don´t autoincrement, 1=Autoincrement
Default: 0
- dispenseMode (integer)
0=Jet Part, 1=Jet Empty, 2=Surface Part, 3=Surface Empty,4=Jet Drain tip, 8=From liquid class, 9=Blowout tip
Default: 8
- capacitiveLLD (integer)
0=Off, 1=Max, 2=High, 3=Mid, 4=Low, 5=From labware definition
Default: 0
- liquidFollowing (integer)
0=Off , 1=On
Default: 0
- submergeDepth (float)
mm of immersion below liquid´s surface to start dispense when using LLD
Default: 2.0
- liquidHeight (float)
mm above container´s bottom to start dispense when not using LLD
Default: 1.0
- mixCycles (integer)
number of mixing cycles (1 cycle = 1 asp + 1 disp)
Default: 0
- mixPosition (float)
additional immersion mm below dispense position to start mixing
Default: 0.0
- mixVolume (float)
mix volume
Default: 0.0
- airTransportRetractDist (float)
mm to move up in Z after finishing the dispense at a fixed height before aspirating 'transport air'
Default: 10.0
- zMoveAfterStep (integer)
0=normal, 1=Minimized (Attention!!! this depends on labware clearance height, can crash).
Default: 0
- sideTouch (integer)
0=Off , 1=On
Default: 0
ISWAP_GET
plateSequence
leave empty if you are going to provide specific plate labware-position below
Default:''
- plateLabwarePositions (string)
leave empty if you are going to provide a plate sequence name above. LabwareId1, positionId1;
Default: ''
- lidSequence (string)
leave empty if you don´t use lid or if you are going to provide specific plate labware-positions below or ejecting to default waste
Default: ''
- lidLabwarePositions (string)
leave empty if you are going to provide a plate sequence name above. LabwareId1, positionId1;
Default: ''
- toolSequence (string)
sequence name of the iSWAP. leave empty if you are going to provide a plate sequence name above. LabwareId1, positionId1;
Default: ''
- sequenceCounting (integer)
0=don´t autoincrement plate sequence, 1=Autoincrement
Default: 0
- movementType (integer)
0=To carrier, 1=Complex movement
Default: 0
- transportMode (integer)
0=Plate only, 1=Lid only ,2=Plate with lid
Default: 0
- gripForce (integer)
2 (minimum) ... 9 (maximum)
Default: 4
- inverseGrip (integer)
0=Off, 1=On
Default: 0
- collisionControl (integer)
0=Off, 1=On
Default: 0
- gripMode (integer)
0=Small side, 1=Large side
Default: 1
- retractDistance (float)
retract distance [mm] (only used if 'movement type' is set to 'complex movement')
Default: 0.0
- liftUpHeight (float)
lift-up distance [mm] (only used if 'movement type' is set to 'complex movement')
Default: 20.0
- gripWidth (float)
grip width when closed [mm]
Default: 123.7
- tolerance (float)
tolerance [mm]
Default: 2.0
- gripHeight (float)
height to grip above bottom of labware [mm]
Default: 3.0
- widthBefore (float)
grip width when opened before grip [mm]
Default: 130.0
ISWAP_PLACE
- plateSequence (string)
leave empty if you are going to provide specific plate labware-position below
Default: ''
- plateLabwarePositions (string)
leave empty if you are going to provide a plate sequence name above. LabwareId1, positionId1;
Default: ''
- lidSequence (string)
leave empty if you don´t use lid or if you are going to provide specific plate labware-positions below or ejecting to default waste
Default: ''
- lidLabwarePositions (string)
leave empty if you are going to provide a plate sequence name above. LabwareId1, positionId1;
Default: ''
- toolSequence (string)
sequence name of the iSWAP. leave empty if you are going to provide a plate sequence name above. LabwareId1, positionId1;
Default: ''
- sequenceCounting (integer)
0=don´t autoincrement plate sequence, 1=Autoincrement
Default: 0
- movementType (integer)
0=To carrier, 1=Complex movement
Default: 0
- transportMode (integer)
0=Plate only, 1=Lid only ,2=Plate with lid
Default: 0
- collisionControl (integer)
0=Off, 1=On
Default: 0
- retractDistance (float)
retract distance [mm] (only used if 'movement type' is set to 'complex movement')
Default: 0.0
- liftUpHeight (float)
lift-up distance [mm] (only used if 'movement type' is set to 'complex movement')
Default: 20.0
HEPA
- deviceNumber (integer)
COM port number of fan
Default: _fan_port
- persistant (integer)
0=don´t keep fan running after method exits, 1=keep settings after method exits
Default: 1
- fanSpeed (float)
set percent of maximum fan speed
Default: None
- simulate (integer)
0=normal mode, 1=use HxFan simulation mode
Default: 0
WASH96_EMPTY
- refillAfterEmpty (integer)
0=Don't refill, 1=Refill both chambers, 2=Refill chamber 1 only, 3=Refill chamber 2 only
Default: 0
- chamber1WashLiquid (integer)
0=Liquid 1 (red container), 1=liquid 2 (blue container)
Default: 0
- chamber1LiquidChange (integer)
0=No, 1=Yes TODO: What does this mean?
Default: 0
- chamber2WashLiquid (integer)
0=Liquid 1 (red container), 1=liquid 2 (blue container)
Default: 0
- chamber2LiquidChange (integer)
0=No, 1=Yes TODO: What does this mean?
Default: 0
"""
Global variables
var defaults_by_cmd
-
All of the command names supported out of the box, mapped to their default params.
On module load, defaults_by_cmd is parsed into
HamiltonCmdTemplate
s, which are injected into the global package namespace under the first element of the values of this dict (strings in all caps). This is so that they can be imported directly frompyhamilton
as module-level variables, while avoiding circular imports.Example:
from pyhamilton import INITIALIZE
INITIALIZE
-
initializeAlways (int)
0=only initialize components not already initialized, 1=always reinitialize all robot components
Default: 0
PICKUP
-
tipSequence (string)
leave empty if you are going to provide specific labwarePositions below
Default: ''
-
labwarePositions (string)
leave empty if you are going to provide a sequence name above.'LabwareId1, positionId1; LabwareId2,positionId2; ....'
Default: ''
-
channelVariable (string)
channel pattern e.g. '11110000'
Default: _channel_patt_16
-
sequenceCounting (integer)
0=don´t autoincrement, 1=Autoincrement
Default: 0
-
channelUse (integer)
1=use all sequence positions (no empty wells), 2=keep channel pattern
Default: 1
EJECT
-
wasteSequence (string)
leave empty if you are going to provide specific labware-positions below or ejecting to default waste
Default: ''
-
labwarePositions (string)
leave empty if you are going to provide a sequence name above.'LabwareId1, positionId1; LabwareId2,positionId2; ....'
Default: ''
-
channelVariable (string)
channel pattern e.g. "11110000"
Default: _channel_patt_16
-
sequenceCounting (integer)
0=don´t autoincrement, 1=Autoincrement. Value omitted if ejecting to default waste
Default: 0
-
channelUse (integer)
1=use all sequence positions (no empty wells), 2=keep channel pattern
Default: 1
-
useDefaultWaste (integer)
0=eject to custom waste sequence, 1=Use default waste
Default: 0
ASPIRATE
-
aspirateSequence (string)
leave empty if you are going to provide specific labware-positions below
Default: ''
-
labwarePositions (string)
leave empty if you are going to provide a sequence name above. 'LabwareId1, positionId1; LabwareId2,positionId2; ....'
Default: ''
-
volumes (float or string)
enter a single value used for all channels or enter an array of values for each channel like [10.0,15.5,11.2]
Default: None
-
channelVariable (string)
channel pattern e.g. "11110000"
Default: _channel_patt_16
-
liquidClass (string)
Default: None
-
sequenceCounting (integer)
0=don´t autoincrement, 1=Autoincrement
Default: 0
-
channelUse (integer)
1=use all sequence positions (no empty wells), 2=keep channel pattern
Default: 1
-
aspirateMode (integer)
0=Normal Aspiration, 1=Consecutive (don´t aspirate blowout), 2=Aspirate all
Default: 0
-
capacitiveLLD (integer)
0=Off, 1=Max, 2=High, 3=Mid, 4=Low, 5=From labware definition
Default: 0
-
pressureLLD (integer)
0=Off, 1=Max, 2=High, 3=Mid, 4=Low, 5=From liquid class definition
Default: 0
-
liquidFollowing (integer)
0=Off , 1=On
Default: 0
-
submergeDepth (float)
mm of immersion below liquid´s surface to start aspiration when using LLD
Default: 2.0
-
liquidHeight (float)
mm above container´s bottom to start aspiration when not using LLD
Default: 1.0
-
maxLLdDifference (float)
max mm height different between cLLD and pLLD detected liquid levels
Default: 0.0
-
mixCycles (integer)
number of mixing cycles (1 cycle = 1 asp + 1 disp)
Default: 0
-
mixPosition (float)
additional immersion mm below aspiration position to start mixing
Default: 0.0
-
mixVolume (float)
mix volume
Default: 0.0
-
airTransportRetractDist (float)
mm to move up in Z after finishing the aspiration at a fixed height before aspirating 'transport air'
Default: 10.0
-
touchOff (integer)
0=Off , 1=On
Default: 0
-
aspPosAboveTouch (float)
mm to move up in Z after touch off detects the bottom before aspirating liquid
Default: 0.0
DISPENSE
-
dispenseSequence (string)
leave empty if you are going to provide specific labware-positions below
Default: ''
-
labwarePositions (string)
leave empty if you are going to provide a sequence name above. 'LabwareId1, positionId1; LabwareId2,positionId2; ....'
Default: ''
-
volumes (float or string)
enter a single value used for all channels or enter an array of values for each channel like [10.0,15.5,11.2]
Default: None
-
channelVariable (string)
channel pattern e.g. "11110000"
Default: _channel_patt_16
-
liquidClass (string)
Default: None
-
sequenceCounting (integer)
0=don´t autoincrement, 1=Autoincrement
Default: 0
-
channelUse (integer)
1=use all sequence positions (no empty wells), 2=keep channel pattern
Default: 1
-
dispenseMode (integer)
0=Jet Part, 1=Jet Empty, 2=Surface Part, 3=Surface Empty, 4=Jet Drain tip, 8=From liquid class, 9=Blowout tip
Default: 8
-
capacitiveLLD (integer)
0=Off, 1=Max, 2=High, 3=Mid, 4=Low, 5=From labware definition
Default: 0
-
liquidFollowing (integer)
0=Off , 1=On
Default: 0
-
submergeDepth (float)
mm of immersion below liquid´s surface to start dispense when using LLD
Default: 2.0
-
liquidHeight (float)
mm above container´s bottom to start dispense when not using LLD
Default: 1.0
-
mixCycles (integer)
number of mixing cycles (1 cycle = 1 asp + 1 disp)
Default: 0
-
mixPosition (float)
additional immersion mm below dispense position to start mixing
Default: 0.0
-
mixVolume (float)
mix volume
Default: 0.0
-
airTransportRetractDist (float)
mm to move up in Z after finishing the dispense at a fixed height before aspirating 'transport air'
Default: 10.0
-
touchOff (integer)
0=Off , 1=On
Default: 0
-
dispPositionAboveTouch (float)
mm to move up in Z after touch off detects the bottom, before dispense
Default: 0.0
-
zMoveAfterStep (integer)
0=normal, 1=Minimized (Attention!!! this depends on labware clearance height, can crash).
Default: 0
-
sideTouch (integer)
0=Off , 1=On
Default: 0
PICKUP96
-
tipSequence (string)
leave empty if you are going to provide specific labware-positions below
Default: ''
-
labwarePositions (string)
leave empty if you are going to provide a sequence name above. 'LabwareId1, positionId1; LabwareId2,positionId2; ....' Must contain 96 values
Default: ''
-
channelVariable (string)
channel Variable e.g. "11110000...." . Must contain 96 values
Default: _channel_patt_96
-
sequenceCounting (integer)
0=don´t autoincrement, 1=Autoincrement
Default: 0
-
reducedPatternMode (integer)
0=All (not reduced), 1=One channel, 2=One row 3=One column
Default: 0
EJECT96
-
wasteSequence (string)
leave empty if you are going to provide specific labware-positions below or ejecting to default waste
Default: ''
-
labwarePositions (string)
leave empty if you are going to provide a sequence name above. 'LabwareId1, positionId1; LabwareId2,positionId2; ....'
Default: ''
-
channelVariable (string)
channel Variable e.g. "11110000...." . Must contain 96 values
Default: _channel_patt_96
-
sequenceCounting (integer)
0=don´t autoincrement, 1=Autoincrement. Value omitted if ejecting to default waste
Default: 0
-
tipEjectToKnownPosition (integer)
0=Eject to specified sequence position, 1=Eject on tip pick up position, 2=Eject on default waste
Default: 0
ASPIRATE96
-
aspirateSequence (string)
leave empty if you are going to provide specific labware-positions below
Default: ''
-
labwarePositions (string)
leave empty if you are going to provide a sequence name above. LabwareId1, positionId1; LabwareId2,positionId2; ....
Default: ''
-
aspirateVolume (float)
single volume used for all channels in the head. There´s no individual control of each channel volume in multi-probe heads.
Default: None
-
channelVariable (string)
channel Variable e.g. "11110000...." . Must contain 96 values
Default: _channel_patt_96
-
liquidClass (string)
Default: None
-
sequenceCounting (integer)
0=don´t autoincrement, 1=Autoincrement
Default: 0
-
aspirateMode (integer)
0=Normal Aspiration, 1=Consecutive (don´t aspirate blowout), 2=Aspirate all
Default: 0
-
capacitiveLLD (integer)
0=Off, 1=Max, 2=High, 3=Mid, 4=Low, 5=From labware definition
Default: 0
-
liquidFollowing (integer)
0=Off , 1=On
Default: 0
-
submergeDepth (float)
mm of immersion below liquid´s surface to start aspiration when using LLD
Default: 2.0
-
liquidHeight (float)
mm above container´s bottom to start aspiration when not using LLD
Default: 1.0
-
mixCycles (integer)
number of mixing cycles (1 cycle = 1 asp + 1 disp)
Default: 0
-
mixPosition (float)
additional immersion mm below aspiration position to start mixing
Default: 0.0
-
mixVolume (float)
mix volume
Default: 0.0
-
airTransportRetractDist (float)
mm to move up in Z after finishing the aspiration at a fixed height before aspirating 'transport air'
Default: 10.0
DISPENSE96
-
dispenseSequence (string)
leave empty if you are going to provide specific labware-positions below
Default: ''
-
labwarePositions (string)
leave empty if you are going to provide a sequence name above. LabwareId1, positionId1; LabwareId2,positionId2; ....
Default: ''
-
dispenseVolume (float)
single volume used for all channels in the head. There´s no individual control of each channel volume in multi-probe heads.
Default: None
-
channelVariable (string)
channel Variable e.g. "11110000...." . Must contain 96 values
Default: _channel_patt_96
-
liquidClass (string)
Default: None
-
sequenceCounting (integer)
0=don´t autoincrement, 1=Autoincrement
Default: 0
-
dispenseMode (integer)
0=Jet Part, 1=Jet Empty, 2=Surface Part, 3=Surface Empty,4=Jet Drain tip, 8=From liquid class, 9=Blowout tip
Default: 8
-
capacitiveLLD (integer)
0=Off, 1=Max, 2=High, 3=Mid, 4=Low, 5=From labware definition
Default: 0
-
liquidFollowing (integer)
0=Off , 1=On
Default: 0
-
submergeDepth (float)
mm of immersion below liquid´s surface to start dispense when using LLD
Default: 2.0
-
liquidHeight (float)
mm above container´s bottom to start dispense when not using LLD
Default: 1.0
-
mixCycles (integer)
number of mixing cycles (1 cycle = 1 asp + 1 disp)
Default: 0
-
mixPosition (float)
additional immersion mm below dispense position to start mixing
Default: 0.0
-
mixVolume (float)
mix volume
Default: 0.0
-
airTransportRetractDist (float)
mm to move up in Z after finishing the dispense at a fixed height before aspirating 'transport air'
Default: 10.0
-
zMoveAfterStep (integer)
0=normal, 1=Minimized (Attention!!! this depends on labware clearance height, can crash).
Default: 0
-
sideTouch (integer)
0=Off , 1=On
Default: 0
ISWAP_GET
plateSequence
leave empty if you are going to provide specific plate labware-position below Default:''
-
plateLabwarePositions (string)
leave empty if you are going to provide a plate sequence name above. LabwareId1, positionId1;
Default: ''
-
lidSequence (string)
leave empty if you don´t use lid or if you are going to provide specific plate labware-positions below or ejecting to default waste
Default: ''
-
lidLabwarePositions (string)
leave empty if you are going to provide a plate sequence name above. LabwareId1, positionId1;
Default: ''
-
toolSequence (string)
sequence name of the iSWAP. leave empty if you are going to provide a plate sequence name above. LabwareId1, positionId1;
Default: ''
-
sequenceCounting (integer)
0=don´t autoincrement plate sequence, 1=Autoincrement
Default: 0
-
movementType (integer)
0=To carrier, 1=Complex movement
Default: 0
-
transportMode (integer)
0=Plate only, 1=Lid only ,2=Plate with lid
Default: 0
-
gripForce (integer)
2 (minimum) … 9 (maximum)
Default: 4
-
inverseGrip (integer)
0=Off, 1=On
Default: 0
-
collisionControl (integer)
0=Off, 1=On
Default: 0
-
gripMode (integer)
0=Small side, 1=Large side
Default: 1
-
retractDistance (float)
retract distance [mm] (only used if 'movement type' is set to 'complex movement')
Default: 0.0
-
liftUpHeight (float)
lift-up distance [mm] (only used if 'movement type' is set to 'complex movement')
Default: 20.0
-
gripWidth (float)
grip width when closed [mm]
Default: 123.7
-
tolerance (float)
tolerance [mm]
Default: 2.0
-
gripHeight (float)
height to grip above bottom of labware [mm]
Default: 3.0
-
widthBefore (float)
grip width when opened before grip [mm]
Default: 130.0
ISWAP_PLACE
-
plateSequence (string)
leave empty if you are going to provide specific plate labware-position below
Default: ''
-
plateLabwarePositions (string)
leave empty if you are going to provide a plate sequence name above. LabwareId1, positionId1;
Default: ''
-
lidSequence (string)
leave empty if you don´t use lid or if you are going to provide specific plate labware-positions below or ejecting to default waste
Default: ''
-
lidLabwarePositions (string)
leave empty if you are going to provide a plate sequence name above. LabwareId1, positionId1;
Default: ''
-
toolSequence (string)
sequence name of the iSWAP. leave empty if you are going to provide a plate sequence name above. LabwareId1, positionId1;
Default: ''
-
sequenceCounting (integer)
0=don´t autoincrement plate sequence, 1=Autoincrement
Default: 0
-
movementType (integer)
0=To carrier, 1=Complex movement
Default: 0
-
transportMode (integer)
0=Plate only, 1=Lid only ,2=Plate with lid
Default: 0
-
collisionControl (integer)
0=Off, 1=On
Default: 0
-
retractDistance (float)
retract distance [mm] (only used if 'movement type' is set to 'complex movement')
Default: 0.0
-
liftUpHeight (float)
lift-up distance [mm] (only used if 'movement type' is set to 'complex movement')
Default: 20.0
HEPA
-
deviceNumber (integer)
COM port number of fan
Default: _fan_port
-
persistant (integer)
0=don´t keep fan running after method exits, 1=keep settings after method exits
Default: 1
-
fanSpeed (float)
set percent of maximum fan speed
Default: None
-
simulate (integer)
0=normal mode, 1=use HxFan simulation mode
Default: 0
WASH96_EMPTY
-
refillAfterEmpty (integer)
0=Don't refill, 1=Refill both chambers, 2=Refill chamber 1 only, 3=Refill chamber 2 only
Default: 0
-
chamber1WashLiquid (integer)
0=Liquid 1 (red container), 1=liquid 2 (blue container)
Default: 0
-
chamber1LiquidChange (integer)
0=No, 1=Yes TODO: What does this mean?
Default: 0
-
chamber2WashLiquid (integer)
0=Liquid 1 (red container), 1=liquid 2 (blue container)
Default: 0
-
chamber2LiquidChange (integer)
0=No, 1=Yes TODO: What does this mean?
Default: 0
-