Systems and methods for pipette robots
Systems and methods applicable, for instance, to pipette robots. A pipette robot can perform one or more operations regarding deck calibration, one or more operations regarding pipette tip/probe calibration, one or more operations regarding pipette tip pick up, and/or one or more operations regarding tip ejection.
1. A pipette robot, comprising:
a computer, wherein said computer comprises:
at least one processor; and
a memory including instructions;
a frame;
a deck operatively connected to the frame;
a gantry operatively connected to the frame;
a Z-axis motor operatively connected to the gantry, wherein the Z-axis motor is further operatively connected to the at least one processor; and
a pipette operatively connected to the gantry, wherein said pipette comprises a pipette body, and wherein the Z-axis motor is configured to travel the pipette along a Z-axis,
wherein the instructions configure the pipette robot to perform a method comprising:
aligning, using the gantry, the pipette with a pipette tip;
selecting, by the at least one processor, a current, wherein the selected current causes the Z-axis motor to, if stalled, output a stall torque that is reduced relative to a maximum stall torque of the Z-axis motor;
placing, using the at least one processor, a limit that the Z-axis motor draw no more than the selected current; and
moving, using the Z-axis motor, the pipette downwards until the pipette makes contact with the pipette tip and the Z-axis motor stalls, wherein the pipette tip becomes attached to the pipette.
2. The pipette robot of claim 1 , wherein the method further comprises:
removing, using the at least one processor, the limit that the Z-axis motor draw no more than the selected current; and
one or more of aspirating liquids using the pipette and dispensing liquids using the pipette.
3. The pipette robot of claim 1 , wherein the method further comprises:
moving, using the Z-axis motor, the pipette upwards until the pipette activates a Z-axis frame switch; and
recording, using the at least one processor, a distance between the Z-axis frame switch and a location which corresponds to said stalling of the Z-axis motor.
4. The pipette robot of claim 1 , wherein the method further comprises:
detecting said stalling of the Z-axis motor by performing one or more of:
monitoring, using the at least one processor, a current drawn by the Z-axis motor; and
monitoring, using the at least one processor, a back-electromotive force (EMF) emitted by the Z-axis motor.