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

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

Updated 2026-09-17 · LogrobotLM reference

Description

A 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

Change the position representation to CARTESIAN. Press DATA, [TYPE], Position Regs, select the register, press position, [REPRE], cartesian.

Related codes

PALT-214WARN The tool pointer length is changed.PALT-215WARN Moving to maintenance position..PALT-217PAUSE Position is not reachablePALT-220WARN Message buffer to PC is full

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