Error during manipulator calibration

[louison pineau]

Hi,

I'm trying to calibrate manipulators on my setup following the online documentation. I managed to get to step 8. I calibrated the axis orientation for x, y and z. Now, I'm trying to test the calibration but when I click to target in the multipatch module, I get this error :

RuntimeError: Task <acq4.devices.Stage.Stage.MovePathFuture object at 0x00000280111DE0E0> did not complete: Path step 1/3: UM Error: -4: 'Invalid argument' from um_goto_position_ext(c_long(10), c_float(-36194.83984375), c_float(nan), c_float(nan), c_float(nan), c_float(9.0), c_float(1.0), c_float(1.0), c_float(0.0), c_long(1), c_long(0))

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "C:\Users\pineaulo\AppData\Local\anaconda3\envs\acq4\Lib\threading.py", line 1045, in _bootstrap_inner
    self.run()
  File "C:\Users\pineaulo\AppData\Local\anaconda3\envs\acq4\Lib\threading.py", line 982, in run
    self._target(*self._args, **self._kwargs)
  File "U:\acq4\acq4\util\future.py", line 279, in _monitorErrors
    raise RuntimeError(formattedMsg) from exc
RuntimeError: Move to target position failed; requested from:
  File "<frozen runpy>", line 198, in _run_module_as_main
  File "<frozen runpy>", line 88, in _run_code
  File "U:\acq4\acq4\__main__.py", line 182, in <module>
    app.exec_()
  File "U:\acq4\acq4\modules\MultiPatch\multipatch.py", line 238, in moveToTarget
    for pip in self.selectedPipettes():
  File "U:\acq4\acq4\devices\Pipette\pipette.py", line 365, in goTarget
    return self.moveTo('target', speed=speed, **kwds)
  File "U:\acq4\acq4\devices\Pipette\pipette.py", line 165, in moveTo
    return future

Everything worked fine otherwise, I did not get any errors while calibrating the axis and the coordinates are saved. Everything was fine for the previous steps also (camera and stage calibration).

Thanks in advance for your help !

[Martin Chase]

First, a note on reading that error. That's a sensapex manipulator that is being asked to go to a negative X position: -36cm further back than it's physically able to go.

Now, why is the manipulator being asked to go there? ACQ4's path planning for "going to a target" involves avoiding the objective, safely extracting itself from the tissue and putting the pipette on a diagonal approach. So the first thing I would check is that the surface is set to a sensible level.

On a side note, I've spent the last while working on completely rebuilding the pipette motion planner. It will soon be much more robust and less fiddly, and it includes a visual interface to show what movements are planned. I hope that will make errors like this easier to understand in the future.

--
You received this message because you are subscribed to the Google Groups "ACQ4" group.
To unsubscribe from this group and stop receiving emails from it, send an email to acq4+uns...@googlegroups.com.
To view this discussion visit https://groups.google.com/d/msgid/acq4/ef25b793-e7a8-4c29-b85c-0d429beee136n%40googlegroups.com.