代码 PALL-216: SlipSheet pos. must be cartesian representation
问题描述与安全警告
Fanuc R-30i Series Robot Controller 触发了严重的 SlipSheet pos. must be cartesian representation 警报。需要由合格的操作员或维修技师立即处理，以防止在制造周期中对设备造成二次损坏或导致零件报废。在接触电气控制箱之前，请务必确保遵循标准安全和停机挂牌 (LOTO) 程序。
官方故障排除步骤
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.
关于 Fanuc R-30i Series Robot Controller 警报
由 Fanuc 制造的工业控制器具有广泛的诊断系统，用于保护内部电路和机械连杆。当 R-30i Series Robot Controller 出现类似 PALL-216 的错误代码时，通常表示指令值与实际传感器反馈之间存在不匹配。
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