(W, P, R) orientation of the robot’s tool relative to a coordinate frame. To "prepare a good piece"—which typically means setting up a precise tool or user frame—you need to master how these angles interact with your XYZ coordinates. doc.rc-cube.com 1. Master Your WPR Rotations
In FANUC's Cartesian representation (XYZ-WPR), the position is defined in millimeters (X, Y, Z), while the orientation is given in degrees (W, P, R). Rotation around the X-axis . P (Pitch): Rotation around the Y-axis . R (Roll): Rotation around the Z-axis . fanuc robot wpr
This is the "reference." If a position has W, P, and R values of 0, 0, 0 , it means the tool is aligned perfectly with this reference frame—pointing straight up and aligned with the robot’s base axes. (W, P, R) orientation of the robot’s tool