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. We are very familiar with this alarm on Dobot Magician / MG400 / M1 / CR (DobotStudio) systems — usually the first on-site inspection is enough to confirm the cause.

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: Our ticket data shows the first cause is by far the most common — start there to avoid dead ends.

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: For Dobot 0x20, this alarm family points at arm motion control: after a reset the arm can move unexpectedly, and anyone inside the working envelope is at strike and pinch risk. What you can check yourself first is If jogging: jog back out in the opposite direction to clear the alarm; the arm working envelope handling is not a DIY job.

How we diagnose motion alarms on site

Dobot 0x20 belongs to the motion & path family. On Dobot 0x20 the failing stage is joint-integrated drive modules (collaborative models dominate) on the Dobot controllers (CR / MG / Nova series companions) - the gap between command and execution: trajectory planning, joint limits, singularities, following error and mechanical resistance. We start reading Dobot 0x20 at DobotStudio / app alarm messages; error codes are hexadecimal with a 0x prefix.

The chain involved in Dobot 0x20 runs: program command -> trajectory planner -> joint targets -> servo execution -> actual position feedback -> deviation compare.

If Cartesian jog driven into the singular position on Dobot 0x20 comes with a feeling of drag, the direction is clear: Following error that stays high on one axis only is usually rising mechanical resistance, not a weak servo. We turn the axis by hand with the brake released to feel smoothness, and listen to the reducer for once-per-revolution knocking - a single tick per turn on an RV reducer usually means internal bearing or cycloid damage. Grease that is black, dry or carries metal powder is the plainest evidence. Left alone, this graduates from a motion alarm to a scrapped reducer.

Field notes on this page cover Dobot 0x20 (Inverse Kinematics Singularity); written by the Henghuan repair team, updated 2026-10-01.

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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
Same family: this code belongs to the Motion & path alarms family - the page collects all Motion & path-family codes we have handled, with the common inspection order and spares.
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. We are very familiar with this alarm on Dobot Magician / MG400 / M1 / CR (DobotStudio) systems — usually the first on-site inspection is enough to confirm the cause. Dobot 0x20 sits in the motion & path family; on our work orders the highest-frequency trigger for this code is "Cartesian jog driven into the singular position".

QCan I clear a Dobot 0x20 alarm myself?

Whether Dobot 0x20 clears on its own depends on the outcome of "If jogging: jog back out in the opposite direction to clear the alarm". Finish the flow with "Run the clear-alarm script and verify the corrected path" to confirm Dobot 0x20 - do not skip it. If that step is clean, the second most frequent cause on Dobot 0x20 is "MOVL/ARC/CP path passing through a singularity". If Dobot 0x20 returns after two clears, or the checks point at Cartesian jog driven into the singular position, stop the cell and call a professional robot repair engineer.

QFor motion alarms like Dobot 0x20, can you triage remotely first?

The commonest causes we see on Dobot 0x20 are "Cartesian jog driven into the singular position, MOVL/ARC/CP path passing through a singularity, JUMP_MOVL trajectory crossing the singular posture", so we stock the van against those. For Dobot 0x20 specifically, we carry mechanical and configuration items: grease, limit switches, drag-chain segments, encoder cables and the parameter sheets for common reducers. For Dobot 0x20, motion alarms can often be narrowed remotely first, so an on-site visit is not always immediate. Before we roll, tell us what Dobot 0x20 shows on DobotStudio / app alarm messages; error codes are hexadecimal with a 0x prefix and what the machine was doing - phone or video triage is free.

The content on Dobot 0x20 was written by Henghuan Robotics service engineers from hands-on repair experience. Alarm descriptions are our own reference summary and may differ by controller or software version — defer to Dobot documentation, or contact us to confirm. Henghuan is an independent service provider with no affiliation or endorsement by Dobot.