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The letter separator can be set globally using WordOptions.
In your case, you can set it to the empty string ''.
Here is an example with words of length two over the alphabet ['a1', 'a2'].
sage: W = FiniteWords(['a1', 'a2'])
sage: WordOptions(letter_separator='')
sage: [w for w in W.iterate_by_length(2)]
[word: a1a1, word: a1a2, word: a2a1, word: a2a2]