I've got a weird one that I'm hoping someone can help me with. I have user frame values stored in PRs. I get a call saying they are getting a 'position not reachable' alarm. I looked at PR and while it has the same numerical values, it has somehow gone from Cartesian coordinates to joint angles. As far as I know, the only two ways to change the representation of a PR is either manually on the TP or by doing PR[X]=JPOS. Nobody touched the TP and we do not use JPOS instructions at all. Are there any other ways for a PR to programmatically change representation from Cartesian to joint?