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FANUC Alarm SHAP-021 — Center posn PR[1] uninitialied

FANUC SHAP-021 (“Center posn PR[1] uninitialied”): The center position for the Custom shape, has not been taught in the 'Center Position' position register. First check: Record the center position for the custom shape in the position register.

Updated 2026-09-17 · LogrobotLM reference

Description

The center position for the Custom shape, has not been taught in the 'Center Position' position register.

Remedy

Record the center position for the custom shape in the position register.

Related codes

SHAP-016Position doesn't exist in prog.SHAP-017Posn [REPRE] must be cartesian.SHAP-022… - Joint moves not allowedSHAP-031Macro … not set

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 →