Code PALL-216: SlipSheet pos. must be cartesian representation
Issue Description & Safety Warning
The Fanuc R-30i Series Robot Controller has triggered a critical SlipSheet pos. must be cartesian representation alarm. Immediate attention from a qualified operator or maintenance technician is required to prevent secondary damage to the equipment or spoiled parts during the manufacturing cycle. Always ensure standard safety and LOTO procedures are followed before accessing electrical cabinets.
Official Troubleshooting Steps
Cause: 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: Change the position representation to CARTESIAN: 1. Press DATA. 2. Press F1, [TYPE]. 3. Select Position Regs. 4. Select the register. 5. Select POSITION. 6. Press [REPRE]. 7. Select Cartesian.
Source: FANUC Robot R-30iA Alarm Code List Operator's Manual
Last reviewed: 2026-07-01 · Verified against the manufacturer’s official documentation.
About Fanuc R-30i Series Robot Controller Alarms
Fanuc controllers include extensive self-diagnostics that flag or halt the machine when a fault is detected. Error code PALL-216 on the R-30i Series Robot Controller identifies one specific fault condition — its documented cause and the official corrective steps are listed above, sourced from Fanuc's service documentation. Always confirm against the manual for your exact machine configuration and follow LOTO procedures before servicing.
Complete Alarm List: 6553 Fanuc R-30i Series Robot Controller codes.
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