Robotics::Tecan::Genesis::Liha - (Internal module) Handlers for low level liquid handling hardware
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.
Set type and location for the supply of pipette tips. Return status string. Returns immediately.
Query next available tip location, given tip type. Return query status string (example: "0;32;0;0") Returns immediately.
Query usage of tip type. Return tip usage string (example: "0;96") Returns immediately.
Pause pipetting if robotics is in the PIPETTING state. No arguments. Returns error if any. Returns immediately (?).
Connect pipetting tips to liquid handling arm.
Returns error if any. May take time to complete.
Couple (mechanically join) a pipetting tip(s) to liquid handling arm at the current arm position.
See also: tip_uncouple
Uncouple (mechanically unjoin) a pipetting tip(s) from liquid handling arm at the current arm position.
See also: tip_couple
Internal function. Convert tip string into a numeric tip mask, where tips are numbered "1" to "8".
Returns: 8-bit numeric value.
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:
'=item' outside of any '=over'
You forgot a '=back' before '=head2'
You forgot a '=back' before '=head3'
To install Robotics, copy and paste the appropriate command in to your terminal.
cpanm
cpanm Robotics
CPAN shell
perl -MCPAN -e shell install Robotics
For more information on module installation, please visit the detailed CPAN module installation guide.