TigerBridge

The python files cli_example.py and tiger_bridge.py are examples on how communication through TigerBridge may work. These examples are not intended for production use.

Establishing Communication

In order to establish communication with the TigerStop Pro® controller (a.k.a. the controller), the client will connect via TCP/IP using the controller's IP address on port 7071. This IP address can be found in the controller's interface under the My Machine section of the settings, so long as it is connected via ethernet to a DHCP network. It's necessary that the client's computer is also connected to this same DHCP network for communication to function.

Communication Structure

All messages are fundamentally ASCII strings. Data may have a type but should always be represented as a string when formatted into a message.

Sending Messages

Messages sent to the controller should begin with a string matching the requested function and end with a newline character \n. Some functions will require additional parameters, which should be delimited by pipe | characters.

Message	Description	Sent Parameters
stop	Requests the positioner to stop moving	None
move_to	Requests the positioner to move to the provided position value	Position
get_setting	Requests a setting value from the controller	Setting Name
get_position	Requests the current position of the positioner	None
calibrate	Sets the positioner's position in relation to the tool	Position
home	Sends the positioner to the far end of the beam (relative to the tool), allowing for a consistent reference point for positioning	None
cycle_tool	Requests for the machine to perform a tool cycle.	None
disconnect	Explicitly attempts to close socket connection.	None

Receiving Messages

Messages received from the controller will begin with a unique integer code that specifies the type of message and end in a newline character \n. Certain messages will contain additional data, delimited by a pipe | character after the identifier code.

Message Codes

Message Code	Description	Received Data
0	Movement has finished	None
1	Received a setting from the controller	Setting Name, Setting Value
2	Received the current position of the positioner from the controller	Position Value
3	Received an error	Error Code
4	Tool has been engaged	None
5	Tool has been disengaged	None
6	Calibration succeeded	None

Error Codes

Error Code	Description
101	The requested destination is beyond the minimum limit of the machine
102	The requested destination is beyond the maximum limit of the machine
103	The positioner was unexpectedly halted during movement
104	The positioner was unexpectedly moved while at rest
105	The requested position value is not a valid number
106	The requested command is unrecognized
107	The requested setting is unavailable
108	Unable to begin movement due to positioner already being in motion
109	The machine is below the voltage threshold for standard operation
110	The machine is above the voltage threshold for standard operation
111	The temperature of the amplifier has exceeded safe operating threshold
112	The temperature is increasing at an unsafe rate
113	The electrical current through the machine has exceeded safe operating threshold
114	The machine was signaled to stop while moving
115	A movement was attempted while the tool was engaged
116	The tool was engaged while the positioner was moving
117	The requested calibration position is not a valid number
118	A tool cycle was attempted, but the machine is missing the proper enable code for Full Auto operation.
119	A tool cycle was attempted, but the machine’s Tool IK setting is not set to ‘Full Auto’.
120	Either the air sensor was deactivated, or the user attempted a tool cycle while the air sensor was inactive.
121	Either the oil sensor was deactivated, or the user attempted a tool cycle while the oil sensor was inactive.
122	Either the saw speed sensor was deactivated, or the user attempted a tool cycle while the saw speed sensor was inactive.
123	Either the light curtain sensor was deactivated, or the user attempted a tool cycle while the light curtain sensor was inactive.
124	Either the guard door sensor was deactivated, or the user attempted a tool cycle while the guard door sensor was inactive.
125	The Input/Output panel lost connection.
126	The user attempted to perform a tool cycle while a tool cycle was already in progress.
127	A disconnect was attempted while the positioner was moving.
128	A disconnect was attempted while the tool was cycling.

Functions

Areas of this section surrounded in quotes represent string literals, or sequences of bytes to be sent across a TCP connection. Sections of a string literal surrounded in curly braces represent the name of a value that will appear in that section. For example, for a message formatted by the string 2|{position}, {position} could be a value of 50, and the message string would really be 2|50. Additionally, \n in a string represents the newline character.

Stop Function

This function causes the positioner to stop if moving. If the positioner is at rest, nothing should happen

Request

• Identifier: stop
• Parameters: None

Response

• Possible Error Codes
  • 114

Move To Position Function

Basic movement of the positioner is accomplished through this function. The desired position is passed to the TigerStop in millimeters, which will cause the positioner to move to the provided position, if possible

Request

• Identifier: move_to
• Parameters: position
  • Type: float
  • Note: position values must be sent in metric millimeters

Response

• Message Code: 0
• Possible Error Codes
  • 101, 102, 103, 105, 108, 109, 110, 111, 112, 113, 114, 115, 116

Get Setting Function

There are specific settings from the TigerStop, whose values can be read. The setting name determines which setting to get, and both name and value are sent back upon success.

Request

• Identifier: get_setting
• Parameters: Setting Name
• Available Settings:
  • minlim
    • The minimum limit of the machine (mm)
  • maxlim
    • The maximum limit of the machine (mm)

Response

• Message format: 1|{Setting Name}|{Setting Value}\n
  • Message Code: 1
  • Setting Name: The name of the requested setting
  • Setting Value: The value of the requested setting
• Possible error codes
  • 107

Set Units Function

Requests for the TigerStop to handle all positional data in the specified units.

Request

• Identifier: set_units
• Parameter: Unit Type
• Available Unit Type Values:
  • 0 (millimeters)
  • 1 (inches)

Response

• Message Format: 19\n
• Possible Error Codes:
  • 107

Get Position Function

Provides the current position of the positioner, relative to the tool, in millimeters.

Request

• Identifier: get_position
• Parameters: None

Response

• Message format: 2|{position}\n
  • Message Code: 2
  • Position: The current position of the positioner (in millimeters)
    • Note: Position will be a float, but will be represented as a string in the response message

Calibrate Function

Calibration specifies where the positioner is relative to the tool. The current position becomes the calibrated position, and the end limits are shifted by the difference between the calibrated position and the pre-calibrated position. For example, say you have a minimum limit of 0, a maximum limit of 100, and a current position of 5. After calibrating to 0, your minimum limit will be -5, maximum limit will be 95, and current position will be 0.

Request

• Identifier: calibrate
• Parameters: position
  • Type: float
  • Note: position values must be sent in metric millimeters

Response

• Message format: 6\n
  • Message Code: 6
• Possible Error Codes:
  • 117

Home Routine Function

Sends the positioner to the far end of the beam (relative to the tool), allowing for a consistent reference point for positioning. The controller will respond with message code 0 four consecutive times during a successful home routine, with each one signaling a separate step of the routine. The fourth message in the series indicates a successfully completed routine.

Request

• Identifier: home
• Parameters: None

Response

• Message format: 0\n
  • Message Code: 0
• Possible Error Codes:
  • 103, 108, 109, 110, 111, 112, 113, 114, 115, 116

Cycle Tool Function

Initiates a tool cycle sequence. The controller will respond with a message code for each step of the process until the tool cycle is completed or an error prevents completion. A full tool cycle is as follows: 1. Clamps engage: Message code 10 2. Tool and motor enable signals sent: Message code 11 and message code 18 3. Tool at rest sensor deactivated: Message code 12 4. Tool at extension sensor activated: Message code 13 5. Tool at extension sensor deactivated: Message code 14 6. Tool at rest sensor activated: Message code 15 7. Clamps disengaged: Message code 16 8. Tool cycle complete: Message code 17

Request

• Identifier: cycle_tool
• Parameters: None

Response

• Possible Error Codes:
  • 114, 116, 120, 121, 122, 123, 124, 126

Disconnect Function

• Attempts to close the client’s socket connection. Disconnecting explicitly will maintain motor state (i.e. if the positioner is holding position, after disconnecting, position will still be holding).

• Disconnects will be refused while the positioner is moving, or a tool is actively cycling.

• Note that unexpected disconnections, or socket closure without a preceding disconnect command, will result in the motor disengaging.

Request

• Identifier: disconnect
• Parameters: None

Response

• Possible Error Codes:
  • 127, 128

Signals

Signals are messages that occur during certain operations of the TigerStop. These messages may occur independently of any function calls.

Received Position Signal

This signal occurs during active movement of the TigerStop's positioner.

• Message Format: 2|{position}\n
• Message Code: 2

Tool Engaged Signal

This signal occurs when a tool connected via a standard interconnect kit engages.

• Message Format: 4\n
• Message Code: 4

Tool Disengaged Signal

This signal occurs when a tool connected via a standard interconnect kit disengages.

• Message Format: 5\n
• Message code: 5