To my knowledge if you are using a 3570 ADSM will not control the cleaner
cartridge.
The 3570 tape drive has a reserved slot for the cleaning cartridge. This is
loaded
manually with the menu on the tape drive. When ADSM tries to use a cleaning
cartridge
that was checked in with ADSM it will error out.

Also make sure that the library is set to auto clean.