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This study presents a novel grounded coplanar waveguide (CPW) to fundamental rectangular waveguide mode transition for W-band applications. The designed waveguide-to-CPW transition is optimised to achieve low-loss. The maximum insertion loss of the waveguide-to-CPW back-to-back transition is -1.8-dB in a frequency range of 91.2-113.2-GHz, corresponding to a large 22- bandwidth. Since the structure benefits from a simple topology and in order to demonstrate the claims, it is fabricated in-house. The measurement results are presented and are in very good agreement with the simulations.