add new speed for emulsifying pipette plunger

api/src/opentrons/config/defaults_ot3.py

@@ -75,6 +75,7 @@
 DEFAULT_GRIPPER_MOUNT_OFFSET: Final[Offset] = (84.55, -12.75, 93.85)
 DEFAULT_SAFE_HOME_DISTANCE: Final = 5
 DEFAULT_CALIBRATION_AXIS_MAX_SPEED: Final = 30
+DEFAULT_EMULSIFYING_PIPETTE_AXIS_MAX_SPEED: Final = 90
 
 DEFAULT_MAX_SPEEDS: Final[ByGantryLoad[Dict[OT3AxisKind, float]]] = ByGantryLoad(
     high_throughput={

api/src/opentrons/hardware_control/backends/flex_protocol.py

@@ -69,6 +69,11 @@ def update_constraints_for_calibration_with_gantry_load(
     ) -> None:
         ...
 
+    def update_constraints_for_emulsifying_pipette(
+        self, mount: OT3Mount, gantry_load: GantryLoad
+    ) -> None:
+        ...
+
     def update_constraints_for_plunger_acceleration(
         self, mount: OT3Mount, acceleration: float, gantry_load: GantryLoad
     ) -> None:

api/src/opentrons/hardware_control/backends/ot3controller.py

@@ -50,6 +50,7 @@
     get_system_constraints,
     get_system_constraints_for_calibration,
     get_system_constraints_for_plunger_acceleration,
+    get_system_constraints_for_emulsifying_pipette,
 )
 from .tip_presence_manager import TipPresenceManager
 
@@ -393,6 +394,18 @@ def update_constraints_for_calibration_with_gantry_load(
             f"Set system constraints for calibration: {self._move_manager.get_constraints()}"
         )
 
+    def update_constraints_for_emulsifying_pipette(
+        self, mount: OT3Mount, gantry_load: GantryLoad
+    ) -> None:
+        self._move_manager.update_constraints(
+            get_system_constraints_for_emulsifying_pipette(
+                self._configuration.motion_settings, gantry_load, mount
+            )
+        )
+        log.debug(
+            f"Set system constraints for emulsifying pipette: {self._move_manager.get_constraints()}"
+        )
+
     def update_constraints_for_gantry_load(self, gantry_load: GantryLoad) -> None:
         self._move_manager.update_constraints(
             get_system_constraints(self._configuration.motion_settings, gantry_load)

api/src/opentrons/hardware_control/backends/ot3simulator.py

@@ -234,6 +234,11 @@ def update_constraints_for_calibration_with_gantry_load(
     ) -> None:
         self._sim_gantry_load = gantry_load
 
+    def update_constraints_for_emulsifying_pipette(
+        self, mount: OT3Mount, gantry_load: GantryLoad
+    ) -> None:
+        pass
+
     def update_constraints_for_plunger_acceleration(
         self, mount: OT3Mount, acceleration: float, gantry_load: GantryLoad
     ) -> None:

api/src/opentrons/hardware_control/backends/ot3utils.py

@@ -2,7 +2,10 @@
 from typing import Dict, Iterable, List, Set, Tuple, TypeVar, cast, Sequence, Optional
 from typing_extensions import Literal
 from logging import getLogger
-from opentrons.config.defaults_ot3 import DEFAULT_CALIBRATION_AXIS_MAX_SPEED
+from opentrons.config.defaults_ot3 import (
+    DEFAULT_CALIBRATION_AXIS_MAX_SPEED,
+    DEFAULT_EMULSIFYING_PIPETTE_AXIS_MAX_SPEED,
+)
 from opentrons.config.types import OT3MotionSettings, OT3CurrentSettings, GantryLoad
 from opentrons.hardware_control.types import (
     Axis,
@@ -300,6 +303,31 @@ def get_system_constraints_for_plunger_acceleration(
     return new_constraints
 
 
+def get_system_constraints_for_emulsifying_pipette(
+    config: OT3MotionSettings,
+    gantry_load: GantryLoad,
+    mount: OT3Mount,
+) -> "SystemConstraints[Axis]":
+    old_constraints = config.by_gantry_load(gantry_load)
+    new_constraints = {}
+    axis_kinds = set([k for _, v in old_constraints.items() for k in v.keys()])
+    for axis_kind in axis_kinds:
+        for axis in Axis.of_kind(axis_kind):
+            if axis == Axis.of_main_tool_actuator(mount):
+                _max_speed = float(DEFAULT_EMULSIFYING_PIPETTE_AXIS_MAX_SPEED)
+            else:
+                _max_speed = old_constraints["max_speed"][axis_kind]
+            new_constraints[axis] = AxisConstraints.build(
+                max_acceleration=old_constraints["max_acceleration"][axis_kind],
+                max_speed_discont=old_constraints["max_speed_discontinuity"][axis_kind],
+                max_direction_change_speed_discont=old_constraints[
+                    "direction_change_speed_discontinuity"
+                ][axis_kind],
+                max_speed=_max_speed,
+            )
+    return new_constraints
+
+
 def _convert_to_node_id_dict(
     axis_pos: Coordinates[Axis, CoordinateValue],
 ) -> NodeIdMotionValues:

api/src/opentrons/hardware_control/ot3api.py

@@ -32,6 +32,7 @@
 )
 from opentrons_shared_data.pipette import (
     pipette_load_name_conversions as pipette_load_name,
+    pipette_definition,
 )
 from opentrons_shared_data.robot.types import RobotType
 
@@ -634,10 +635,23 @@ async def cache_pipette(
             self._feature_flags.use_old_aspiration_functions,
         )
         self._pipette_handler.hardware_instruments[mount] = p
+        if config is not None:
+            self._confirm_pipette_motion_constraints(mount, instrument_config=config)
         # TODO (lc 12-5-2022) Properly support backwards compatibility
         # when applicable
         return skipped
 
+    def _confirm_pipette_motion_constraints(
+        self,
+        mount: OT3Mount,
+        instrument_config: pipette_definition.PipetteConfigurations,
+    ) -> None:
+        display_name = instrument_config.display_name
+        if display_name == "FLEX 8-Channel Emulsifying 1000 μL":
+            self._backend.update_constraints_for_emulsifying_pipette(
+                mount, self.gantry_load
+            )
+
     async def cache_gripper(self, instrument_data: AttachedGripper) -> bool:
         """Set up gripper based on scanned information."""
         grip_cal = load_gripper_calibration_offset(instrument_data.get("id"))