FANUC Alarm SHAP-022 — … - Joint moves not allowed

Manufacturer wording — %s - Joint moves not allowed
The manual prints placeholders; your controller fills them in with the real group, axis or number.

FANUC SHAP-022 (“… - Joint moves not allowed”): The Custom Shape cut program has joint motions which are not allowed. First check: Change the joint move to a linear move.

Updated 2026-09-17 · LogrobotLM reference

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 →