Unlike a simple linear move (where the robot moves in a straight line from Point A to Point B), a weave move instructs the robot to oscillate perpendicular to the path of travel. The WPR is the data structure that defines how that oscillation happens.
In practice, “WPR” appears in Fanuc robot , alarm messages , and motion parameters — often referring to the wrist’s mechanical or software partition for singularity handling. fanuc robot wpr