Download WSG Scripting Reference Manual

WSG Scripting Reference Manual
2.7.6
Send a data packet – cmd.send() ........................................................................................ 47
2.7.7
Get number of available packets – cmd.available() ............................................................ 48
2.7.8
Read a received data packet – cmd.read() .......................................................................... 49
2.8
Finger control ............................................................................................................. 50
2.8.1
Get number of fingers – finger.count() ............................................................................... 50
2.8.2
Get finger type – finger.type() ............................................................................................. 51
2.8.3
Get or set a finger parameter – finger.param()................................................................... 51
2.8.4
Get the current finger data – finger.data().......................................................................... 53
2.8.5
Digital sensor interface – finger.interface()......................................................................... 54
2.8.6
Get finger state – finger.state() ........................................................................................... 57
2.8.7
Get the finger state as table - finger.flags()......................................................................... 58
2.8.8
Control finger power – finger.power() ................................................................................ 59
2.8.9
Get analog voltage – finger.analog() ................................................................................... 60
2.8.10
Write data to finger – finger.write() .................................................................................... 60
2.8.11
Bytes available – finger.bytes_available() ........................................................................... 61
2.8.12
Read data from finger – finger.read() ................................................................................. 62
2.8.13
Synchronous data transfer via SPI – finger.spi().................................................................. 63
2.8.14
Finger configuration memory – finger.config() ................................................................... 64
2.9
Profibus ..................................................................................................................... 66
2.9.1
Get connection state – profibus.online() ............................................................................ 66
2.9.2
Get bitrate – profibus.bitrate()............................................................................................ 67
2.9.3
Access an I/O flag – profibus.flag() ...................................................................................... 67
2.9.4
Write/read user flags – profibus.flags() .............................................................................. 69
2.9.5
Set one or more output flags – profibus.fset() .................................................................... 69
2.9.6
Clear one or more output Flags – profibus.fclear() ............................................................. 70
2.9.7
Wait for activity – profibus.waitact() .................................................................................. 71
3
Appendix A: Error Codes .................................................................................. 72
4
Appendix B: System State Flags ........................................................................ 73
5
Appendix C: Finger State Flags.......................................................................... 75
6
Appendix D: Syntax Notation ........................................................................... 76
Weiss Robotics GmbH & Co. KG
In der Gerste 2
71636 Ludwigsburg, Germany
For updates and further information, please visit
http://www.weiss-robotics.com
Page 4 of 77
© 2013 Weiss Robotics, all rights reserved