LogrobotLM

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FANUC Alarm PALL-216 — SlipSheet pos. must be cartesian representation

FANUC PALL-216 (“SlipSheet pos. must be cartesian representation”): The slip sheet position registers have positions that are taught in JOINT representation. First check: Change the position representation to CARTESIAN:

Updated 2026-08-29 · LogrobotLM reference

Description

The slip sheet position registers have positions that are taught in JOINT representation. For the slip sheet logic to work properly, the positions must be taught in Cartesian representation.

Remedy · Remède

Change the position representation to CARTESIAN:

Frequently asked · Questions fréquentes

What does FANUC alarm PALL-216 mean?
FANUC PALL-216 (“SlipSheet pos. must be cartesian representation”): The slip sheet position registers have positions that are taught in JOINT representation. For the slip sheet logic to work properly, the positions must be taught in Cartesian representation.
How do you troubleshoot FANUC alarm PALL-216?
Change the position representation to CARTESIAN:

Related codes / Codes liés

PALL-214The tool pointer length is changed.PALL-215Moving to maintenance position..PALL-217Position is not reachablePALL-220Message buffer to PC is full

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 →