FANUC robots use a specific sequence to calculate orientation: .
You can apply offsets to specific axes (e.g., rotating the tool by 10 degrees around its own Z-axis) by modifying the R value in a Position Register. fanuc robot wpr
WPR defines the rotation of the Tool Center Point (TCP) relative to the robot's faceplate. FANUC robots use a specific sequence to calculate
It is important to note that in general engineering terms, rotation around the Z-axis is often called "Yaw." However, FANUC documentation and the robotics community often colloquially refer to it as "Wobble" to maintain the W-P-R mnemonic. Regardless of the terminology, the mathematical function remains the same: it determines the horizontal rotation of the tool. It is important to note that in general
FANUC’s advanced software allows you to link a WPR to a seam tracking sensor. For example, if a laser tracker detects the gap increasing from 3mm to 5mm, the robot can automatically change WvAM from 2.5mm to 4.5mm mid-weld. This requires using WPR_OFFSET commands in your logic.