代碼 PALL-216: SlipSheet pos. must be cartesian representation
問題描述與安全警告
Fanuc R-30i Series Robot Controller 觸發了嚴重的 SlipSheet pos. must be cartesian representation 警報。需要由合格的操作員或維修技師立即處理，以防止在製造週期中對設備造成二次損壞或導致零件報廢。在接觸電氣控制箱之前，請務必確保遵循標準安全和停機掛牌 (LOTO) 程序。
官方故障排除步驟
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.
關於 Fanuc R-30i Series Robot Controller 警報
由 Fanuc 製造的工業控制器具有廣泛的診斷系統，用於保護內部電路和機械連桿。當 R-30i Series Robot Controller 出現類似 PALL-216 的錯誤代碼時，通常表示指令值與實際感測器回饋之間存在不匹配。
Have a better solution?
Help the industrial community by sharing your repair experience for code PALL-216.
Need a searchable reference for more Fanuc R-30i Series Robot Controller manuals?
We structure equipment manuals into searchable code, title, cause, solution, safety note, and source-reference data. Send a PDF and example searched codes when you need public pages, private search, or structured exports.
Space reserved for Google AdSense / Industrial Affiliate Links
Monetization target for 2026