refactor(shared-data): update plunger motor configs #13372

caila-marashaj · 2023-08-23T20:46:30Z

Due to mechanical changes, the PVT single channel pipette needs to run at a lower current than other pipette models.

Additionally, after some period without use, all pipette plungers, except the 96 channels, will need to home using 1A motor current to overcome their static friction.

This branch is just these couple of changes, however I'd like a quick sanity check before merging to make sure that speed won't be an issue during homing. It looks like homing for the first time after attaching will happen using the _build_home_pipettes_runner function, in which case the speed chosen should be 5 mm/sec.

codecov · 2023-08-23T20:50:37Z

Codecov Report

Merging #13372 (e9020b3) into chore_release-7.0.0 (880a5de) will decrease coverage by 0.26%.
Report is 23 commits behind head on chore_release-7.0.0.
The diff coverage is 47.61%.

@@                   Coverage Diff                   @@
##           chore_release-7.0.0   #13372      +/-   ##
=======================================================
- Coverage                71.67%   71.41%   -0.26%     
=======================================================
  Files                     2427     1585     -842     
  Lines                    67649    52667   -14982     
  Branches                  7808     3437    -4371     
=======================================================
- Hits                     48486    37614   -10872     
+ Misses                   17334    14523    -2811     
+ Partials                  1829      530    -1299

Flag	Coverage Δ
app	`43.28% <ø> (-26.75%)`	⬇️
g-code-testing	`96.44% <ø> (ø)`
hardware-testing	`∅ <ø> (∅)`
notify-server	`89.13% <ø> (ø)`
shared-data	`74.34% <40.00%> (-0.03%)`	⬇️
step-generation	`87.25% <0.00%> (+0.06%)`	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files Changed	Coverage Δ
api/src/opentrons/hardware_control/ot3api.py	`79.43% <ø> (ø)`
api/src/opentrons/protocol_api/protocol_context.py	`91.90% <ø> (+0.47%)`	⬆️
...opentrons/protocol_engine/commands/load_labware.py	`100.00% <ø> (ø)`
...i/src/opentrons/protocol_engine/errors/__init__.py	`100.00% <ø> (ø)`
...src/opentrons/protocol_engine/errors/exceptions.py	`100.00% <ø> (ø)`
...l-designer/src/components/steplist/ContextMenu.tsx	`3.84% <0.00%> (-2.57%)`	⬇️
...-server/robot_server/service/legacy/models/logs.py	`100.00% <ø> (ø)`
...server/robot_server/service/legacy/routers/logs.py	`100.00% <ø> (ø)`
...s_shared_data/pipette/scripts/build_json_script.py	`0.00% <0.00%> (ø)`
...neration/src/commandCreators/atomic/moveLabware.ts	`73.68% <0.00%> (ø)`
... and 5 more

... and 844 files with indirect coverage changes

vegano1 · 2023-08-24T16:57:01Z

Nice!
Let's retarget this for the 7.0.0 release branch

shared-data/python/opentrons_shared_data/pipette/dev_types.py

shared-data/pipette/definitions/2/general/eight_channel/p1000/1_0.json

Laura-Danielle

Gotta update the json schema to reflect the new change to plunger positions
Don't forget to make sure we remove the auto-generated junk that replaced uL in some of the pipette definitions.

Laura-Danielle · 2023-08-25T10:20:53Z

shared-data/python/opentrons_shared_data/pipette/scripts/build_json_script.py

@@ -97,6 +97,7 @@ def _build_motor_configurations(
    if model_configurations:
        run = model_configurations["plungerCurrent"]["value"]
        idle = model_configurations.get("idleCurrent", run)
+        homing = model_configurations["plungerHomingCurrent"]["value"]


In this instance, you wouldn't use the build_json_script.py but the update_configuration_files.py when you're updating files. (Just for future reference).

shared-data/pipette/definitions/2/general/single_channel/p50/3_3.json

api/src/opentrons/hardware_control/ot3api.py

Laura-Danielle · 2023-08-25T10:34:16Z

api/src/opentrons/hardware_control/ot3api.py

+                instr = self._pipette_handler.hardware_instruments[mount]
+
+                if instr is not None:
+                    await self._backend.set_active_current(


Suggested change

await self._backend.set_active_current(

async with self._backend.restore_current():

await self._backend.set_active_current(

(The home will also need to be wrapped in this)

sfoster1

agree with laura's comments, need to fix that mu. probably can do it with find and replace in your editor.

sfoster1 · 2023-08-28T14:31:44Z

shared-data/pipette/definitions/2/general/eight_channel/p1000/3_0.json

@@ -1,6 +1,6 @@
 {
  "$otSharedSchema": "#/pipette/schemas/2/pipettePropertiesSchema.json",
-  "displayName": "Flex 8-Channel 1000 μL",
+  "displayName": "Flex 8-Channel 1000 \u03bcL",


andySigler · 2023-08-28T15:55:53Z

api/src/opentrons/hardware_control/ot3api.py

@@ -1295,6 +1295,16 @@ async def _retrieve_home_position() -> Tuple[
            await self._backend.home([axis], self.gantry_load)
        else:


homing current should be used for all homing actions, not just the initial homing motion. This is because the static friction issue can happen regardless of if the pipette is powered on or off, it just needs to be still for the problem to happen.

Because non-initial homing motions include that faster move to get close to the endstop, we'll need a per-pipette homing-speed that is used as a motion constraint for the plunger axis during this faster movement.

The currently used default max-speed for 1ch/8ch plungers is 70 while 96ch is 15. So for example, during homing we can instead constrain these to be 30 for 1ch/8ch and 5 for 96ch

Oh and we should also be setting the pipette's run current during all other plunger motions, which right now does not include the movement that happens inside OT3API._move_to_plunger_bottom() but it should.

andySigler · 2023-08-28T15:57:16Z

shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_5.json

@@ -17,7 +17,8 @@
  },
  "plungerMotorConfigurations": {
    "idle": 0.3,
-    "run": 0.8
+    "run": 0.8,
+    "homing": 0.8


let's set this to 2.2 then test on a few 96ch to see if it needs changing. Ideally we can use the motor's max rated current so we can get the most torque out of it to overcome any static-friction that may have built up.

Same goes for the v3_4.json 96ch

andySigler · 2023-08-28T15:59:00Z

shared-data/pipette/definitions/2/general/single_channel/p10/1_0.json

+  "plungerMotorConfigurations": {
+    "idle": 0.05,
+    "run": 0.3,
+    "homing": 1


I don't remember what the OT2 does for homing, but ideally this PR doesn't affect it at all and the configurations don't describe values that aren't accurate.

caila-marashaj changed the title ~~new pipette current configs~~ refactor(sahared-data): update plunger motor configs Aug 24, 2023

caila-marashaj force-pushed the pipette-plunger-current-changes branch from 7eb2930 to e4e9941 Compare August 24, 2023 15:33

caila-marashaj marked this pull request as ready for review August 24, 2023 16:28

caila-marashaj requested a review from a team as a code owner August 24, 2023 16:28

caila-marashaj force-pushed the pipette-plunger-current-changes branch from af38ca1 to 6572703 Compare August 24, 2023 18:03

caila-marashaj requested review from a team as code owners August 24, 2023 18:03

caila-marashaj requested review from smb2268 and removed request for a team August 24, 2023 18:03

caila-marashaj force-pushed the pipette-plunger-current-changes branch 2 times, most recently from 115fdb2 to e86c105 Compare August 24, 2023 18:09

caila-marashaj changed the base branch from edge to chore_release-7.0.0 August 24, 2023 18:20

caila-marashaj changed the base branch from chore_release-7.0.0 to edge August 24, 2023 18:23

caila-marashaj changed the title ~~refactor(sahared-data): update plunger motor configs~~ refactor(shared-data): update plunger motor configs Aug 24, 2023

caila-marashaj force-pushed the pipette-plunger-current-changes branch from bc8402c to 0600a0a Compare August 24, 2023 18:29

caila-marashaj changed the base branch from edge to chore_release-7.0.0 August 24, 2023 18:31

vegano1 reviewed Aug 24, 2023

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vegano1 reviewed Aug 24, 2023

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Laura-Danielle requested changes Aug 25, 2023

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sfoster1 requested changes Aug 28, 2023

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andySigler requested changes Aug 28, 2023

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caila-marashaj force-pushed the pipette-plunger-current-changes branch 2 times, most recently from 5d94e9d to e9020b3 Compare August 29, 2023 16:20

caila-marashaj closed this Aug 29, 2023

caila-marashaj force-pushed the pipette-plunger-current-changes branch from e9020b3 to 9d9e497 Compare August 29, 2023 16:28

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refactor(shared-data): update plunger motor configs #13372

refactor(shared-data): update plunger motor configs #13372

caila-marashaj commented Aug 23, 2023 •

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codecov bot commented Aug 23, 2023 •

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vegano1 commented Aug 24, 2023

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Laura-Danielle Aug 25, 2023

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sfoster1 left a comment

sfoster1 Aug 28, 2023

andySigler Aug 28, 2023

andySigler Aug 28, 2023

andySigler Aug 28, 2023

andySigler Aug 28, 2023

	await self._backend.set_active_current(
	async with self._backend.restore_current():
	await self._backend.set_active_current(

		@@ -1295,6 +1295,16 @@ async def _retrieve_home_position() -> Tuple[
		await self._backend.home([axis], self.gantry_load)
		else:

refactor(shared-data): update plunger motor configs #13372

refactor(shared-data): update plunger motor configs #13372

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caila-marashaj commented Aug 23, 2023 •

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