make sure we protocect against going to fast on the 96

Opentrons · Nov 1, 2024 · 67d95d9 · 67d95d9
1 parent 2de79bf
commit 67d95d9
Showing 1 changed file with 10 additions and 0 deletions.
diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py
@@ -2716,13 +2716,23 @@ async def liquid_probe(  # noqa: C901
             probe_settings = deepcopy(self.config.liquid_sense)
 
         # We need to significatly slow down the 96 channel liquid probe
+        max_mount_acceleration = self.config.motion_settings.acceleration[
+            GantryLoad.LOW_THROUGHPUT
+        ][OT3AxisKind.Z]
+
         if self.gantry_load == GantryLoad.HIGH_THROUGHPUT:
             max_plunger_speed = self.config.motion_settings.max_speed_discontinuity[
                 GantryLoad.HIGH_THROUGHPUT
             ][OT3AxisKind.P]
+            max_mount_acceleration = self.config.motion_settings.acceleration[
+                GantryLoad.HIGH_THROUGHPUT
+            ][OT3AxisKind.Z]
             probe_settings.plunger_speed = min(
                 max_plunger_speed, probe_settings.plunger_speed
             )
+            probe_settings.mount_acceleration = min(
+                max_mount_acceleration, probe_settings.mount_acceleration
+            )
 
         starting_position = await self.gantry_position(checked_mount, refresh=True)