Ambulatory infusion pumps, pump assemblies, cartridges, baseplates, cannulas,
insertion tools, and related components as well as combinations thereof and related methods. One method of dispensing medicament from a
cartridge includes pushing a
plunger so as to controllably dispense out of a medicament reservoir within the
cartridge in accordance with a stored delivery profile an amount of medicament of 0.1% or less of the total filled volume of the reservoir and with a single-
dose precision of better than plus or minus 20%. The single-
dose precision is obtained after a time-to-precision period of less than eight hours, which begins at the onset of the first
plunger pushing for the
cartridge, during which the
plunger is being pushed in accordance with the stored delivery profile.