NAME
Robotics::Tecan::Genesis::Liha - (Internal module) Handlers for low level liquid handling hardware
tip_aspirate
Aspirate with coupled tips from named arm. Use tip string to specify tips.
Specify volume and location, with optional liquid type, flags, etc. Requires work table to be previously loaded.
Return status string. May take time to complete.
- named motor arm - string, motor name (default: "liha")
- (optional) tips - string, "1" or "2-6" or "2,4,1,7" or "1,5-8" or "all" (default: "1") =item (optional) volume - string, specifying volume of 1-1000 for each tip, such as "20,20,20" (default: 10) =item (optional) location - string, specifying "well" numbers or well co-ordinates (default: "1") =item (optional) liquid type - string, from configuration database (default: "Water") =item (optional) position - numeric, carrier location, 1-67 (default: 1) =item (optional) site - numeric, rack position, 0-127 (default: 0) =item (optional) inter-tip distance - numeric, 1-n (default: 1) =item (optional) flags - various flags for specifying actions after aspiration (default: "") =item (optional) flag argument - various arguments depending on flags (default: "")
tip_dispense
Aspirate with coupled tips from named arm. Use tip string to specify tips.
Specify volume and location, with optional liquid type, flags, etc. Requires work table to be previously loaded.
Return status string. May take time to complete.
- named motor arm - string, motor name (default: "liha")
- All other arguments (many) are the same as tip_aspirate.
tip_set_supply
Set type and location for the supply of pipette tips. Return status string. Returns immediately.
- (optional) type - numeric, 1-4 (default: 1) =item (optional) grid - numeric, 1-99 (default: 1) =item (optional) site - carrier location, 0-63 (default: 0) =item (optional) position - rack position, 0-95 (default: 0)
tip_query
Query next available tip location, given tip type. Return query status string (example: "0;32;0;0") Returns immediately.
tip_query_usage
Query usage of tip type. Return tip usage string (example: "0;96") Returns immediately.
tip_pause
Pause pipetting if robotics is in the PIPETTING state. No arguments. Returns error if any. Returns immediately (?).
tip_couple
Connect pipetting tips to liquid handling arm.
- (optional) Tips to use. String, in the format: "1" or "2-5" or "1,4,8" or "all". Default: "1" =item (optional) Type of tip. Numeric, 0-3, as defined in Tecan configuration MINUS ONE. Default: 0 =item (optional) Operational flags. Numeric. 0=none. 1=retry tip fetching up to 3 times at successive positions. Default: 0
-
Returns error if any. May take time to complete.
tip_coupleFirmware
Couple (mechanically join) a pipetting tip(s) to liquid handling arm at the current arm position.
- (optional) Tips to use. String, in the format: "1" or "2-5" or "1,4,8" or "all". Default: "1" =item (optional) Type of tip. Numeric, 0-3, as defined in Tecan configuration MINUS ONE. Default: 0 =item (optional) Operational flags. Numeric. 0=none. 1=retry tip fetching up to 3 times at successive positions. Default: 1
-
Returns error if any. May take time to complete.
See also: tip_uncouple
tip_uncoupleFirmware
Uncouple (mechanically unjoin) a pipetting tip(s) from liquid handling arm at the current arm position.
- (optional) Tips to use. String, in the format: "1" or "2-5" or "1,4,8" or "all". Default: "1"
-
Returns error if any. May take time to complete.
See also: tip_couple
_tipStringToMask8
Internal function. Convert tip string into a numeric tip mask, where tips are numbered "1" to "8".
Developer information: Example LIHA firmware commands
position at waste: A1PAA875,2423,90,2100,2100,2100,2100,2100,2100,2100,2100
dispense: tip 1 : dispense 119.30<B5>l 12, 8 JC-Greiner V-Bottom [11,2] 100.00<B5>l "Water" DITI <15 - 200<B5>l> Single "Water" =>
M1,GFC
D1,V3600c2400D358M0R
M1,GSC
aspirate: tip 1 : aspirate 104.30<B5>l 1, 7 Tube 13*100mm, 16 Pos. [8,1] 100.00<B5>l ">> Water << 10" DITI <15 - 200<B5>l> Single M1,GFC D1,OV420P15M0R M1,GSC M1,GFC D1,V600P313M200R M1,GSC
status?
> D1,Q0 < D1,0,448
flush: D1,IV5400P3000OA0R
initialize: A1,PAA45,1031,90,2080,2080,2080,2080,2080,2080,2080,2080 D1,YIP100OS9OD100R
Sequence to position at well1, aspirate, dispense, position at waste: >COMMAND;A1PAA2612,743,90,670,2080,2080,2080,2080,2080,2080,2080 >COMMAND;D1Q0 >COMMAND;D1V3600c2400P358M0R >COMMAND;D1Q0 >COMMAND;A1PAA2612,743,90,720,2080,2080,2080,2080,2080,2080,2080 >COMMAND;D1Q0 >COMMAND;D1V3600c2400D358M0R >COMMAND;D1Q0 >COMMAND;A1PAA875,2423,90,2100,2100,2100,2100,2100,2100,2100,2100
? P = move relative plunger (pick liquid) ? I = turn valve to input ? O = turn valve to output ? D = move relative plunger (dispense liquid) ? c = set plunger stop speed (=SPP) ? V = set plunger drive end speed (=SEP) R = execute command(s) M = delay (milliseconds)
Dispense command sequence for tests:
The following has "no reply from GSC, pipe seems hung" bug:
A1PAA2612,743,90,695,2080,2080,2080,2080,2080,2080,2080
M1GFC
D1Q0
D1V3600c2400D358M0R
D1Q0
M1GSC
The following works OK:
A1PAA2612,743,90,670,2080,2080,2080,2080,2080,2080,2080
D1Q0
D1V3600c2400P358M0R
D1Q0
A1PAA2612,743,90,720,2080,2080,2080,2080,2080,2080,2080
D1Q0
D1V3600c2400D358M0R
D1Q0
A1PAA875,2423,90,2100,2100,2100,2100,2100,2100,2100,2100
Aspirate command sequence for tests:
# XXX
# XXX "GSC" command does not seem to transmit through named pipe?
# XXX
#M1GFC
#D1Q0
#D1OV420P15M0R
#D1Q0
#M1GSC
A1PAA2612,743,90,695,2080,2080,2080,2080,2080,2080,2080
M1GFC
D1Q0
D1V600P313M200R
D1Q0
M1GSC
A1PAA2612,743,90,695,2080,2080,2080,2080,2080,2080,2080
D1Q0
D1V600P313M200R
D1Q0
18 POD Errors
The following errors were encountered while parsing the POD:
- Around line 188:
'=item' outside of any '=over'
- Around line 398:
You forgot a '=back' before '=head2'
- Around line 408:
'=item' outside of any '=over'
- Around line 507:
You forgot a '=back' before '=head2'
- Around line 513:
'=item' outside of any '=over'
- Around line 535:
You forgot a '=back' before '=head2'
- Around line 541:
'=item' outside of any '=over'
- Around line 557:
You forgot a '=back' before '=head2'
- Around line 563:
'=item' outside of any '=over'
- Around line 580:
You forgot a '=back' before '=head2'
- Around line 602:
'=item' outside of any '=over'
- Around line 638:
You forgot a '=back' before '=head2'
- Around line 642:
'=item' outside of any '=over'
- Around line 670:
You forgot a '=back' before '=head2'
- Around line 674:
'=item' outside of any '=over'
- Around line 699:
You forgot a '=back' before '=head2'
- Around line 704:
'=item' outside of any '=over'
- Around line 777:
You forgot a '=back' before '=head3'