Fanuc Robot Wpr (2024)

The orientation of a FANUC robot is represented by three angles—, P (Pitch) , and R (Roll) —which define how the robot's Tool Center Point (TCP) is rotated around the X, Y, and Z axes of a Cartesian coordinate system. Understanding WPR Orientation

When jogging a WPR robot:

This order matters immensely. If you manually jog the robot using "Tool Frame" orientation, you will see the WPR values change in complex ways because a rotation in one axis physically moves the location of the other axes. fanuc robot wpr