From 3da4dbd09d85124d9e9c4a72f697916d2af8fb33 Mon Sep 17 00:00:00 2001
From: ahiuchingau <20424172+ahiuchingau@users.noreply.github.com>
Date: Mon, 22 Apr 2024 17:33:08 -0400
Subject: [PATCH] remove homing patch for HEAD_R when 96-channel is attached

---
 api/src/opentrons/hardware_control/ot3api.py | 8 +-------
 1 file changed, 1 insertion(+), 7 deletions(-)

diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py
index 93763876575..37f1f43e75c 100644
--- a/api/src/opentrons/hardware_control/ot3api.py
+++ b/api/src/opentrons/hardware_control/ot3api.py
@@ -1521,14 +1521,8 @@ async def _home_axis(self, axis: Axis) -> None:
         # G, Q should be handled in the backend through `self._home()`
         assert axis not in [Axis.G, Axis.Q]
 
-        # TODO(CM): This is a temporary fix in response to the right mount causing
-        # errors while trying to home on startup or attachment. We should remove this
-        # when we fix this issue in the firmware.
-        enable_right_mount_on_startup = (
-            self._gantry_load == GantryLoad.HIGH_THROUGHPUT and axis == Axis.Z_R
-        )
         encoder_ok = self._backend.check_encoder_status([axis])
-        if encoder_ok or enable_right_mount_on_startup:
+        if encoder_ok:
             # enable motor (if needed) and update estimation
             await self._enable_before_update_estimation(axis)