What the 0x20 alarm means

During Cartesian motion the arm reached a singular posture where the inverse solution breaks down; motion stops. Per the Dobot ALARM description this can trigger in jog, MOVL, ARC, CP, or JUMP_MOVL modes. This is one of the faults our repair team handles on Dobot Magician / MG400 / M1 / CR (DobotStudio) systems — the cause is usually identifiable within the first on-site inspection.

Most common causes

  • Cartesian jog driven into the singular position
  • MOVL/ARC/CP path passing through a singularity
  • JUMP_MOVL trajectory crossing the singular posture
  • Path taught with the wrist fully aligned
Field note: the first item on this list is what we find most often on real machines. Check it before you go deeper.

Step-by-step field fix

  1. If jogging: jog back out in the opposite direction to clear the alarm
  2. For programmed moves: check whether the path crosses a singular point and re-teach the via points
  3. Use joint-mode moves for large posture changes
  4. Reduce speed near the singular region
  5. Run the clear-alarm script and verify the corrected path
Safety first: never bypass safety circuits or force contactors closed. If the alarm involves E-stop chains, brakes or drive power, and you are not a trained robot technician, contact a professional — wrong moves here can cost you a robot or an injury.

Still stuck? Get an engineer on the phone — right now

Tell us the alarm code, the robot model and what was happening when the alarm came up. Our engineers run these diagnostics every day, and remote diagnosis by phone or video call is free.

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Related Motion & Path alarms

0x21 — Inverse Kinematics No Solution — Out of Workspace 0x22 — Inverse Kinematics Over Joint Limit 0x30 — Joint 1 Overspeed 0x31 — Joint 2 Overspeed 0x32 — Joint 3 Overspeed 0x33 — Joint 4 Overspeed
Other brands: we also keep field-fix libraries for FANUC · KUKA · ABB and more — see the complete alarm code hub.

Frequently asked questions

QWhat does the Dobot 0x20 alarm mean?

During Cartesian motion the arm reached a singular posture where the inverse solution breaks down; motion stops. Per the Dobot ALARM description this can trigger in jog, MOVL, ARC, CP, or JUMP_MOVL modes. In field practice it belongs to the motion & path family of faults.

QCan I clear a Dobot 0x20 alarm myself?

Sometimes. Work through the step-by-step checks on this page — the first listed cause is what we find most often in the field. If the alarm returns after two attempts, or the fault involves power, brakes or safety circuits, stop and call a qualified robot service engineer.

QHow fast can a Henghuan engineer help?

On-site response in the Pearl River Delta within 30 minutes to 3 hours, across mainland China in 1-3 business days, and worldwide within 2-5 business days. Remote diagnosis by phone/WhatsApp/video is available immediately.

Written by the Henghuan Robotics repair team from field service experience. Alarm descriptions are our own summary for troubleshooting reference and may vary by controller and software version — when in doubt, check your Dobot documentation or contact us. Henghuan is an independent service provider, not affiliated with or endorsed by Dobot.