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STAR aspirate: CAPACITIVE and PRESSURE search first, ZTOUCH draws from the floor - #1362
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…m the floor A liquid height given by hand is only as right as the tracker or the plate's seating. The firmware's own LLD in C0 AS is left off: the channels search first, as probe_liquid_heights does, from the command's lp reached at approach_speed, and the command then starts where the tips rest, at the surface found. The tracker takes the measured volume, with a warning when it is 20 % off the model. ZTOUCH touches the floor first and draws from it. Every search runs 1 mm below the modelled cavity bottom, and a surface found below it moves the floor sent. The command draws its blow-out air before its descent, which with the tip already on the liquid would draw liquid. Under an LLD mode that air is drawn beforehand, in air, by Px DC, and C0 AS carries none. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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An aspiration had to be told where the liquid stands.
CAPACITIVEorPRESSUREthe channels search first and aspirate from where they found the surface; withZTOUCHthey touch the floor and draw from it.Px DCcommand, andC0 ASthen carriesba 0.z_start,probe_liquid_heightstakes anapproach_speedand searches to 1 mm below the cavity bottom, so theirZL/ZEframes change value.Tests: each mode in simulation, the
Px DCframe (P1DCdh0640de100dv05303dr073dw5), blow-out air before the search.🤖 Generated with Claude Code