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FANUC Alarm SHAP-022 — %s - Joint moves not allowed

FANUC SHAP-022 (“%s - 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 2026-08-29 · LogrobotLM reference

Description

The Custom Shape cut program has joint motions which are not allowed.

Remedy · Remède

Change the joint move to a linear move.

Frequently asked · Questions fréquentes

What does FANUC alarm SHAP-022 mean?
FANUC SHAP-022 (“%s - Joint moves not allowed”): The Custom Shape cut program has joint motions which are not allowed.
How do you troubleshoot FANUC alarm SHAP-022?
Change the joint move to a linear move.

Related codes / Codes liés

SHAP-017Posn [REPRE] must be cartesian.SHAP-021Center posn PR[1] uninitialiedSHAP-031Macro %s not setSHAP-040Program is not of circular type

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 →