demo.py script not working

[radhen]

Hi! I have a WSG50 gripper, and I am trying to run the demo.py script, but I am unable to move the gripper. The code gets stuck at

self.wait_for_msg(b"ACK FSACK\n")

when I uncomment the acknowledgment check, it gets stuck at

self.wait_for_msg(b"FIN HOME\n")

I am pretty sure I have set the IP address and the port for the gripper correctly.

Is there anything on the gripper side that I need to set to use these python files? Any other debugging suggestions would be much appreciated.

[submagr]

Hi @radhen,
There are two steps that you should make sure of before running the demo.py script:

1: Please make sure that you are able to access the WSG50 web interface on http://192.168.1.20.
2: Please make sure that in settings > command interface > TCP Settings > Use text-based interface is enabled.

Let me know if these work!

[submagr]

If you are not able to access the web interface via the IP address http://192.168.1.20, I have found following network settings helpful:

On Mac:

On Ubuntu:

[radhen]

Hi @submagr. Thank you for the reply. I am able to view the web interface, but on a different IP address (10.1.10.3). It's just because of how my Ethernet connection is set up. I believe 192.168.1.0 is not absolutely necessary, correct? Under the Command Interface tab, I am unable to see the "Use text based interface" option. See below.

I believe this has to do with the firmware I have on the gripper. It's 3.0.3, and I think to have the "Use text based interface" option, I need a firmware that is 4.0.x. Here is the link where I got that information.

What is the firmware version on the gripper you have? I thought I could just download the latest firmware from the Weiss gripper website, but probably I need to pay for that. I have emailed Weiss Robotics asking the same.

One more thing. I see the Profinet Inerface on the gripper I have is not licensed. Maybe this is also a problem?

[submagr]

Hi @radhen,

I believe 192.168.1.0 is not absolutely necessary, correct?

Yes. That's true. It can be any different IP as per your needs

Under the Command Interface tab, I am unable to see the "Use text-based interface" option. See below.

What is the firmware version on the gripper you have? I thought I could just download the latest firmware from the Weiss gripper website, but probably I need to pay for that. I have emailed Weiss Robotics asking the same. One more thing. I see the Profinet Interface on the gripper I have is not licensed. Maybe this is also a problem?

I used two WSG50, one we purchased in 2020 and one in 2022. I am not sure of the firmware version but I can check that tomorrow. If you are able to update firmware, that's probably fine, but I think this is overkill. I would advise you to just adapt the wsg.py script to send messages in a format that your gripper firmware understands. Currently, I send text messages but you can change it to hex or binary as required.