Brooks PF400 dispenser documentation. This page describes all available commands and their parameters for controlling the PF400 instrument.
Moves the robot to a specified location.
Parameters
| Parameter | Type | Required | Description |
| location | string | Yes | Target location name |
| motion_profile | string | No | Motion profile to use for movement |
| approach_height | int32 | No | Height to approach from (mm) |
Grasps a plate with specified parameters.
Parameters
| Parameter | Type | Description |
| width | int32 | Gripper width setting |
| speed | int32 | Gripper closing speed |
| force | int32 | Gripping force |
Releases the currently held plate.
Parameters
| Parameter | Type | Description |
| width | int32 | Gripper opening width |
| speed | int32 | Gripper opening speed |
Transfers a plate from source to destination.
Parameters
| Parameter | Type | Required | Description |
| source_nest | string | Yes | Source location name |
| destination_nest | string | Yes | Destination location name |
| labware | string | Yes | Labware type being transferred |
| motion_profile | string | No | Motion profile for transfer |
Waits for a specified duration.
Parameters
| Parameter | Type | Description |
| duration | int32 | Wait duration in milliseconds |
Retrieves a plate from a specified location.
Parameters
| Parameter | Type | Required | Description |
| labware | string | Yes | Labware type to retrieve |
| location | string | Yes | Location to retrieve from |
| approach_height | float | No | Approach height (mm) |
| motion_profile | string | No | Motion profile to use |
Drops off a plate at a specified location.
Parameters
| Parameter | Type | Required | Description |
| labware | string | Yes | Labware type to drop off |
| location | string | Yes | Location to drop off at |
| approach_height | float | No | Approach height (mm) |
| motion_profile | string | No | Motion profile to use |
Places a lid on a plate or location.
Parameters
| Parameter | Type | Required | Description |
| labware | string | Yes | Labware type |
| location | string | Yes | Location to place lid |
| motion_profile | string | No | Motion profile to use |
| place_on_plate | bool | No | Whether to place on plate |
| approach_height | float | No | Approach height (mm) |
Unwinds the robot to prevent cable strain.
Parameters
No parameters required
Runs a predefined sequence.
Parameters
| Parameter | Type | Description |
| sequence_name | string | Name of the sequence to run |
| labware | string | Labware type for the sequence |
Gets the current robot location.
Parameters
No parameters required
Jogs the robot along a specified axis.
Parameters
| Parameter | Type | Description |
| axis | string | Axis to jog (e.g., "X", "Y", "Z") |
| distance | float | Distance to jog (mm) |
Sends a raw command to the PF400.
Parameters
| Parameter | Type | Description |
| command | string | Raw GPL command string |
Registers a custom motion profile.
Parameters
| Parameter | Type | Description |
| id | int32 | Profile ID |
| speed | float | Movement speed |
| speed2 | float | Secondary speed parameter |
| accel | float | Acceleration |
| decel | float | Deceleration |
| accel_ramp | float | Acceleration ramp |
| decel_ramp | float | Deceleration ramp |
| inrange | float | In-range tolerance |
| straight | int32 | Straight-line movement flag |
Loads waypoint definitions.
Parameters
| Parameter | Type | Description |
| waypoints | google.protobuf.Struct | Waypoint configuration structure |
Loads labware definitions.
Parameters
| Parameter | Type | Description |
| labwares | google.protobuf.Struct | Labware configuration structure |
