If there is no pin in the puck the robot will report an error (with the error code 25) after loading. Currently hyperion ignores this and will skip the sample during optical centring. However, we would rather Hyperion stop completely as a missing pin could also be an indication of actual robot errors, so we would like to trigger a callout.

Annoyingly the robot gives the error after the smargon is re-enabled:

BL03I-MO-SGON-01:DISABLED      2025-12-12 15:07:31.580359 1  
BL03I-MO-SGON-01:DISABLED      2025-12-12 15:07:40.157888 0  
BL03I-MO-ROBOT-01:PRG_ERR_CODE 2025-12-12 15:07:41.112465 25  

and the current logic is to try and start centring the minute the smargon is enabled. Instead of checking the robot error we could double check that there is a pin on the sensor after the smargon has become enabled again and raise if there isn't (though this is sort of re-creating logic in the robot).

Acceptance Criteria

• Hyperion stops if there is no pin loaded