uncap
Description
Uncaps a vial. Assumes that the gripper joint is already closed on the capped vial and the vial is secured in a clamping module.
Signature
uncap(self, pitch: float = 2, revs: float = 2.5, vel: int = 5000, accel: int = 40000, wait: bool = True) -> CmdToken
Parameters
pitch: float
The distance in mm that the cap travels vertically when unscrewed one revolution.
revs: float
The number of revolutions required to completely remove the cap. A safety factor of a least 0.5 rev should be added by the user.
vel: int, optional
The velocity at which to spin the gripper during the uncapping, in units of cts/s, [0, 100000].
accel: int, optional
The acceleration of the gripper during uncapping, in units of cts/s², [0, 500000].
wait: bool, optional
If True, this command blocks until the target velocity is achieved.
Returns
CmdToken
A CmdToken object that can be used to follow up on the status of the spin or wait for it to finish if wait = False.
Example