SyringeExtruder

Description

A SyringeExtruder tool for extrusion-based 3D printing with a motorized syringe on the Jubilee system.

Supports volumetric extrusion commands linked to spatial movement, nozzle wiping, and regular liquid handling operations (aspirate/dispense).

Constructor

SyringeExtruder(index: int, name: str, config: str)

Parameter	Type	Description
index	int	Tool index on the machine.
name	str	Human-readable name for the extruder.
config	str	Name of the configuration JSON file containing extrusion parameters.

Key Attributes

Attribute	Type	Description
min_range	float	Minimum allowed extrusion position (mm).
max_range	float	Maximum allowed extrusion position (mm).
mm_to_ml	float	Conversion factor from motor mm to milliliters.
e_drive	str	Extruder axis letter (e.g., E1).
nozzle_diameter	float	Diameter of the nozzle tip (mm); default 0.898mm.
syringe_diameter	float	Diameter of the syringe barrel (mm); default 14mm.

Important Methods

Method	Returns	Description
load_config(config: str)	None	Load syringe parameters from JSON configuration file.
post_load()	None	Automatically discover extruder drive assignment from firmware.
make_e(x, y, z)	float	Calculate required extrusion (E) based on XY movement distance.
dist(start: list, end: list)	float	Calculate 3D distance between two points.
wipe_nozzle(x, y, z)	None	Execute a simple nozzle wiping move.
wipe_tower(x, y, z)	None	Build a wipe tower by extruding a small perimeter square.
move_extrude(x, y, z, s, multiplier, e)	None	Move and extrude simultaneously with computed or manual E values.
aspirate(vol: float, location, s=2000)	None	Aspirate a volume of liquid from a location (for basic liquid handling use).
dispense(vol: float, location, s=2000)	None	Dispense a volume of liquid into a location (for basic liquid handling use).

Method Details

Load Configuration

load_config(config)

• Loads min_range, max_range, and mm_to_ml for syringe control.
• Configuration files are expected inside /tools/configs.

Move Extrude

move_extrude(x=None, y=None, z=None, s=180, multiplier=1, e=None)

• Moves in 3D space while extruding material.
• If e is not provided, computes extrusion volume based on XY travel distance and nozzle/syringe diameter ratio.
• Key for 3D printing paths.

Wipe Nozzle

wipe_nozzle(x=285, y=250, z=0.2)

• Quick forward move at low Z to clean the nozzle tip.

Wipe Tower

wipe_tower(x=285, y=250, z=0.2)

• Print a small square to clear clogged nozzle material.

Aspirate & Dispense

aspirate(vol, location, s=2000)
dispense(vol, location, s=2000)

• Basic volumetric liquid handling, mostly for priming and maintenance.
• Not typically used during 3D printing tasks.

Usage Example

extruder = SyringeExtruder(index=1, name="ExtruderTool", config="extruder_config")
extruder.post_load()

# Wipe the nozzle
extruder.wipe_nozzle()

# Move while extruding
extruder.move_extrude(x=100, y=150, s=200)

# Dispense 2mL into a well (optional maintenance)
extruder.dispense(vol=2.0, location=well_A1)

Important Notes

• Extruder paths assume E-axis extrusion based on calculated distance and diameter ratios.
• Always verify nozzle_diameter and syringe_diameter are set appropriately to match physical setup.
• Liquid handling methods (aspirate, dispense) are less typical in extrusion applications but supported for flexibility.

Related Concepts

• Labware
• Tool