hook up the error in a few more places

api/src/opentrons/protocol_api/core/engine/instrument.py

@@ -32,6 +32,9 @@
 from opentrons.protocol_engine.clients import SyncClient as EngineClient
 from opentrons.protocols.api_support.definitions import MAX_SUPPORTED_VERSION
 from opentrons_shared_data.pipette.types import PipetteNameType
+from opentrons_shared_data.errors.exceptions import (
+    UnsupportedHardwareCommand,
+)
 from opentrons.protocol_api._nozzle_layout import NozzleLayout
 from . import overlap_versions, pipette_movement_conflict
 
@@ -85,6 +88,13 @@ def __init__(
         self._liquid_presence_detection = bool(
             self._engine_client.state.pipettes.get_liquid_presence_detection(pipette_id)
         )
+        if (
+            self._liquid_presence_detection
+            and not self._pressure_supported_by_pipette()
+        ):
+            raise UnsupportedHardwareCommand(
+                "Pressure sensor not available for this pipette"
+            )
 
     @property
     def pipette_id(self) -> str:
@@ -859,12 +869,14 @@ def retract(self) -> None:
         z_axis = self._engine_client.state.pipettes.get_z_axis(self._pipette_id)
         self._engine_client.execute_command(cmd.HomeParams(axes=[z_axis]))
 
-    def detect_liquid_presence(self, well_core: WellCore, loc: Location) -> bool:
-        if not self._sync_hardware_api.pressure_sensor_available(
+    def _pressure_supported_by_pipette(self) -> bool:
+        supported = self._sync_hardware_api.pressure_sensor_available(
             mount=self.get_mount()
-        ):
-            raise ValueError("Liquid Presence Detection not available.")
+        )
+        assert isinstance(supported, bool)
+        return supported
 
+    def detect_liquid_presence(self, well_core: WellCore, loc: Location) -> bool:
         labware_id = well_core.labware_id
         well_name = well_core.get_name()
         well_location = WellLocation(

api/src/opentrons/protocol_api/core/instrument.py

@@ -260,6 +260,10 @@ def get_blow_out_flow_rate(self, rate: float = 1.0) -> float:
     def get_liquid_presence_detection(self) -> bool:
         ...
 
+    @abstractmethod
+    def _pressure_supported_by_pipette(self) -> bool:
+        ...
+
     @abstractmethod
     def set_liquid_presence_detection(self, enable: bool) -> None:
         ...

api/src/opentrons/protocol_api/core/legacy/legacy_instrument_core.py

@@ -586,6 +586,9 @@ def liquid_probe_without_recovery(
         """This will never be called because it was added in API 2.20."""
         assert False, "liquid_probe_without_recovery only supported in API 2.20 & later"
 
+    def _pressure_supported_by_pipette(self) -> bool:
+        return False
+
     def nozzle_configuration_valid_for_lld(self) -> bool:
         """Check if the nozzle configuration currently supports LLD."""
         return False

api/src/opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py

@@ -504,6 +504,9 @@ def liquid_probe_without_recovery(
         """This will never be called because it was added in API 2.20."""
         assert False, "liquid_probe_without_recovery only supported in API 2.20 & later"
 
+    def _pressure_supported_by_pipette(self) -> bool:
+        return False
+
     def nozzle_configuration_valid_for_lld(self) -> bool:
         """Check if the nozzle configuration currently supports LLD."""
         return False

api/src/opentrons/protocol_api/instrument_context.py

@@ -6,6 +6,7 @@
     CommandPreconditionViolated,
     CommandParameterLimitViolated,
     UnexpectedTipRemovalError,
+    UnsupportedHardwareCommand,
 )
 from opentrons.legacy_broker import LegacyBroker
 from opentrons.hardware_control.dev_types import PipetteDict
@@ -259,6 +260,7 @@ def aspirate(
             and self._core.nozzle_configuration_valid_for_lld()
             and self._core.get_current_volume() == 0
         ):
+            self._raise_if_pressure_not_supported_by_pipette()
             self.require_liquid_presence(well=well)
 
         with publisher.publish_context(
@@ -1700,11 +1702,13 @@ def liquid_presence_detection(self) -> bool:
         When ``True``, the pipette will check for liquid on every aspiration.
         Defaults to ``False``. See :ref:`lpd`.
         """
+        self._raise_if_pressure_not_supported_by_pipette()
         return self._core.get_liquid_presence_detection()
 
     @liquid_presence_detection.setter
     @requires_version(2, 20)
     def liquid_presence_detection(self, enable: bool) -> None:
+        self._raise_if_pressure_not_supported_by_pipette()
         self._core.set_liquid_presence_detection(enable)
 
     @property
@@ -2141,6 +2145,7 @@ def detect_liquid_presence(self, well: labware.Well) -> bool:
         .. note::
             The pressure sensors for the Flex 8-channel pipette are on channels 1 and 8 (positions A1 and H1). For the Flex 96-channel pipette, the pressure sensors are on channels 1 and 96 (positions A1 and H12). Other channels on multi-channel pipettes do not have sensors and cannot detect liquid.
         """
+        self._raise_if_pressure_not_supported_by_pipette()
         loc = well.top()
         return self._core.detect_liquid_presence(well._core, loc)
 
@@ -2153,6 +2158,7 @@ def require_liquid_presence(self, well: labware.Well) -> None:
         .. note::
             The pressure sensors for the Flex 8-channel pipette are on channels 1 and 8 (positions A1 and H1). For the Flex 96-channel pipette, the pressure sensors are on channels 1 and 96 (positions A1 and H12). Other channels on multi-channel pipettes do not have sensors and cannot detect liquid.
         """
+        self._raise_if_pressure_not_supported_by_pipette()
         loc = well.top()
         self._core.liquid_probe_with_recovery(well._core, loc)
 
@@ -2166,7 +2172,7 @@ def measure_liquid_height(self, well: labware.Well) -> float:
 
         This is intended for Opentrons internal use only and is not a guaranteed API.
         """
-
+        self._raise_if_pressure_not_supported_by_pipette()
         loc = well.top()
         height = self._core.liquid_probe_without_recovery(well._core, loc)
         return height
@@ -2187,6 +2193,12 @@ def _raise_if_configuration_not_supported_by_pipette(
                     )
             # SINGLE, QUADRANT and ALL are supported by all pipettes
 
+    def _raise_if_pressure_not_supported_by_pipette(self) -> None:
+        if not self._core._pressure_supported_by_pipette():
+            raise UnsupportedHardwareCommand(
+                "Pressure sensor not available for this pipette"
+            )
+
     def _handle_aspirate_target(
         self, target: validation.ValidTarget
     ) -> tuple[types.Location, Optional[labware.Well], Optional[bool]]: