Vacuummover

This module provides a class for controlling a vacuum system integrated with a gantry movement system. Classes: VacuumGantry: A class that combines vacuum control with gantry movement capabilities.

Documentation last updated: 2025-06-11

VacuumGantry

VacuumGantry(
    port: str,
    limits: Sequence[Sequence[float]] = (
        (0, 0, 0),
        (0, 0, 0),
    ),
    vacuum_on_delay: float = 3,
    vacuum_off_delay: float = 3,
    *,
    robot_position: Position = Position(),
    home_position: Position = Position(),
    tool_offset: Position = Position(),
    calibrated_offset: Position = Position(),
    scale: float = 1.0,
    deck: Deck | None = None,
    safe_height: float | None = None,
    speed_max: float | None = None,
    device_type_name: str = "GRBL",
    baudrate: int = 115200,
    movement_buffer: int | None = None,
    movement_timeout: int | None = None,
    verbose: bool = False,
    simulation: bool = False,
    **kwargs,
)

Bases: VacuumMixin, Gantry

VacuumGantry class combines vacuum control with gantry movement capabilities. This class inherits from VacuumMixin for vacuum control and Gantry for movement control.

ATTRIBUTE	DESCRIPTION
`vacuum_delays`	dictionary containing delays for vacuum on and off operations. TYPE: `dict`
`connection_details`	connection details for the device TYPE: `dict`
`device`	device object that communicates with physical tool TYPE: `Device`
`flags`	flags for the class TYPE: `SimpleNamespace[str, bool]`
`is_busy`	whether the device is busy TYPE: `bool`
`is_connected`	whether the device is connected TYPE: `bool`
`verbose`	verbosity of class TYPE: `bool`
`deck`	Deck object for workspace TYPE: `Deck`
`workspace`	workspace bounding box TYPE: `BoundingVolume`
`safe_height`	safe height in terms of robot coordinate system TYPE: `float`
`saved_positions`	dictionary of saved positions TYPE: `dict`
`current_zone_waypoints`	current zone entry waypoints TYPE: `tuple[str, list[Position]]`
`speed`	travel speed of robot TYPE: `float`
`speed_factor`	fraction of maximum travel speed of robot TYPE: `float`
`speed_max`	maximum speed of robot in mm/min TYPE: `float`
`robot_position`	current position of the robot TYPE: `Position`
`home_position`	home position of the robot in terms of robot coordinate system TYPE: `Position`
`tool_offset`	tool offset from robot to end effector TYPE: `Position`
`calibrated_offset`	calibrated offset from robot to work position TYPE: `Position`
`scale`	factor to scale the basis vectors by TYPE: `float`
`tool_position`	robot position of the tool end effector TYPE: `Position`
`work_position`	work position of the robot TYPE: `Position`
`worktool_position`	work position of the tool end effector TYPE: `Position`
`position`	work position of the tool end effector; alias for worktool_position TYPE: `Position`

METHOD	DESCRIPTION
`toggleVacuum`	bool): Toggle the vacuum on or off
`evacuate`	Turn on the vacuum for a specified delay
`vent`	Turn off the vacuum for a specified delay
`connect`	connect to the device
`disconnect`	disconnect from the device
`resetFlags`	reset all flags to class attribute _default_flags
`shutdown`	shutdown procedure for tool
`enterZone`	enter a zone on the deck
`exitZone`	exit the current zone on the deck
`halt`	halt robot movement
`home`	make the robot go home
`isFeasible`	checks and returns whether the target coordinates is feasible
`loadDeck`	load Deck layout object to mover
`loadDeckFromDict`	load Deck layout object from dictionary
`loadDeckFromFile`	load Deck layout object from file
`move`	move the robot in a specific axis by a specific value
`moveBy`	move the robot by target direction
`moveTo`	move the robot to target position
`moveToSafeHeight`	move the robot to safe height
`moveRobotTo`	move the robot to target position
`moveToolTo`	move the tool end effector to target position
`reset`	reset the robot
`rotate`	rotate the robot in a specific axis by a specific value
`rotateBy`	rotate the robot by target direction
`rotateTo`	rotate the robot to target orientation
`rotateRobotTo`	rotate the robot to target orientation
`rotateToolTo`	rotate the tool end effector to target orientation
`safeMoveTo`	safe version of moveTo by moving to safe height first
`setSafeHeight`	set safe height for robot
`setSpeedFactor`	set the speed factor of the robot
`setToolOffset`	set the tool offset of the robot
`showWorkspace`	show the workspace of the robot
`transferLabware`	transfer labware from one slot to another
`updateRobotPosition`	update the robot position
`transformRobotToTool`	transform robot coordinates to tool coordinates
`transformRobotToWork`	transform robot coordinates to work coordinates
`transformToolToRobot`	transform tool coordinates to robot coordinates
`transformWorkToRobot`	transform work coordinates to robot coordinates
`calibrate`	calibrate the internal and external coordinate systems