Scripting; Resetting The Configuration; Implementing The Gripping Process - WEISS WSG 32 Mounting And Operating Manual

The command interface is selected and configured via the module's web interface, via the menu option
"Settings" → "Command Interface".

9.17 Scripting

The module's control unit has an integrated interpreter for the Lua programming language, via which you
can adapt the module's software to your application. The programs (scripts) are saved on the integrated SD
card and can be run automatically when the module starts. The interpreter is configured via the web inter-
face. You will find the reference information for the commands as well as notes about creating and using
scripts in the document "WSG Scripting Reference Manual".

9.18 Resetting the configuration

Via the "Settings" → "System" page, the module's configuration can be reset to its state on delivery. Should
the configuration interface no longer be accessible, for example if the network configuration is faulty, or if
you have forgotten your password, the module can also be reset using a button in the tray under the cover
plate (see Figure 20). To reset the module, follow these steps:
1. Remove the cover plate from the control tray
2. Press the configuration reset button.. The SD card's access LED will start to blink. Keep the button
pressed until the module restarts after about 5 seconds.
3. The configuration has been reset to factory defaults.

9.19 Implementing the gripping process

In the following section, the steps are described which are needed for a simple handling cycle (preposition -
grip - release). The specified commands relate to the command interface. You will find a detailed descrip-
tion of the commands and their parameters in the "WSG Command Set Reference Manual".
Preparatory work:
1. Adjust the "Clamping Travel" and "Part Width Tolerance" to the application.
For a description see chapter 9.7.
2. Perform a test grip.
You can do this for example via the web interface, menu option "Motion" → "Grasping"
Executing the gripping cycle:
1. Check whether the gripper has been zeroed (optional)
If not, run the command "Homing (20h)" and wait until SF_REFERENCED is set in the status word.
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