What the 10020 alarm means

The xCore motion planner could not produce a valid trajectory for the commanded move — target unreachable, path blocked by limits, or contradictory constraints. This is one of the faults our repair team handles on ROKAE xCore (XB / CR / NB series) systems — the cause is usually identifiable within the first on-site inspection.

Most common causes

  • Target pose outside the workspace
  • Path passes through a singularity
  • Speed/acceleration constraints impossible for the path
  • Wrong tool or user frame selected
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. Verify the target is reachable by jogging to it
  2. Check the active tool and user frames
  3. Re-teach via points to avoid singular postures
  4. Relax speed or acceleration on the failing move
  5. Test the corrected path at low override
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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Hotline: +86-20-39029800 · WhatsApp: +86-188-1886-2860

Related Motion & Path alarms

60100 — Joint Limit / Workspace Violation 60200 — Singularity Approached
Other brands: we also keep field-fix libraries for Dobot · FANUC · KUKA and more — see the complete alarm code hub.

Frequently asked questions

QWhat does the ROKAE 10020 alarm mean?

The xCore motion planner could not produce a valid trajectory for the commanded move — target unreachable, path blocked by limits, or contradictory constraints. In field practice it belongs to the motion & path family of faults.

QCan I clear a ROKAE 10020 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 ROKAE documentation or contact us. Henghuan is an independent service provider, not affiliated with or endorsed by ROKAE.