LogrobotLM

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FANUC Alarm SHAP-017 — Posn [REPRE] must be cartesian.

FANUC SHAP-017 (“Posn [REPRE] must be cartesian.”): The position type of the position register being used, has been changed to joint representation. First check: Change the position type back to Cartesian.

Updated 2026-08-29 · LogrobotLM reference

Description

The position type of the position register being used, has been changed to joint representation.

Remedy · Remède

Change the position type back to Cartesian.

Frequently asked · Questions fréquentes

What does FANUC alarm SHAP-017 mean?
FANUC SHAP-017 (“Posn [REPRE] must be cartesian.”): The position type of the position register being used, has been changed to joint representation.
How do you troubleshoot FANUC alarm SHAP-017?
Change the position type back to Cartesian.

Related codes / Codes liés

SHAP-014Shift must be cleared first.SHAP-016Position doesn't exist in prog.SHAP-021Center posn PR[1] uninitialiedSHAP-022%s - Joint moves not allowed

Indicative field information — the robot manufacturer's manual and safety procedures always prevail. Never bypass a safety device; apply lockout/tagout (LOTO) before any physical intervention. · Informations indicatives issues du terrain — le manuel du constructeur et ses procédures de sécurité font foi. Ne shuntez jamais un organe de sécurité ; consignez (LOTO) avant toute intervention physique. How this reference is built →