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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 2026-09-17 · LogrobotLM reference

Description

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

Remedy

Change the position type back to Cartesian.

Related codes

SHAP-014Shift must be cleared first.SHAP-016Position doesn't exist in prog.SHAP-021Center posn PR[1] uninitialiedSHAP-022… - 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. How this reference is built →