@awaller - Please review the thread linked below, which goes into some detail about how this can be done using TADM. There are numerous links within the thread that contain more background information and context.
There are also resources in the STAR tools suite, within the pipetting tools library of the suite. I would review the Phase Separation grouping within the demo method that imports with the library to get an idea of the implementation, but you will want to customize for a simpler protocol. STAR tools can be found in Eric’s materials upload link.
-Nick