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 fault ranks high in our ROKAE xCore (XB / CR / NB series) service records, and the first site inspection usually finds the source.

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 cause shows up most on real machines, so verify it before you go further.

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: For ROKAE 10020, 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 Verify the target is reachable by jogging to it; the arm working envelope handling is not a DIY job.

How we diagnose motion alarms on site

ROKAE 10020 belongs to the motion & path family. On ROKAE 10020 the failing stage is in-house cabinet drive modules; joint-integrated on light and collaborative arms on the ROKAE xCore controller - the gap between command and execution: trajectory planning, joint limits, singularities, following error and mechanical resistance. We start reading ROKAE 10020 at the pendant alarm list; codes segment as 1xxxx / 5xxxx / 6xxxx.

The chain involved in ROKAE 10020 runs: program command -> trajectory planner -> joint targets -> servo execution -> actual position feedback -> deviation compare.

The clearest field clue for ROKAE 10020 is Target pose outside the workspace; the discriminator is this test: The most valuable judgement on motion alarms is separating software from mechanics. We take the fixture off and re-run the same path below 10% speed: if it is clean unloaded and slow, the problem is mechanical - over-heavy tooling, shifted centre of gravity, or a joint that already has drag; if it alarms even unloaded and slow, look at program points, frame calibration and whether the path crosses a singular region. No instruments needed, and it removes half the wrong turns.

Field notes on this page cover ROKAE 10020 (Motion Planning Failed); written by the Henghuan repair team, updated 2026-10-01.

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Related Motion & Path alarms

60100 — Joint Limit / Workspace Violation 60200 — Singularity Approached
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 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. This fault ranks high in our ROKAE xCore (XB / CR / NB series) service records, and the first site inspection usually finds the source. ROKAE 10020 sits in the motion & path family; on our work orders the highest-frequency trigger for this code is "Target pose outside the workspace".

QCan I clear a ROKAE 10020 alarm myself?

Whether ROKAE 10020 clears on its own depends on the outcome of "Verify the target is reachable by jogging to it". Finish the flow with "Test the corrected path at low override" to confirm ROKAE 10020 - do not skip it. If that step is clean, the second most frequent cause on ROKAE 10020 is "Path passes through a singularity". Do not chase takt through a repeating ROKAE 10020. Left alone, motion & path faults tend to graduate from repairable to must-replace.

QFor motion alarms like ROKAE 10020, can you triage remotely first?

The commonest causes we see on ROKAE 10020 are "Target pose outside the workspace, Path passes through a singularity, Speed/acceleration constraints impossible for the path", so we stock the van against those. For ROKAE 10020 specifically, we carry mechanical and configuration items: grease, limit switches, drag-chain segments, encoder cables and the parameter sheets for common reducers. For ROKAE 10020, motion alarms can often be narrowed remotely first, so an on-site visit is not always immediate. Before we roll, tell us what ROKAE 10020 shows on the pendant alarm list; codes segment as 1xxxx / 5xxxx / 6xxxx and what the machine was doing - phone or video triage is free.

This page on ROKAE 10020 was compiled from actual repair records of the Henghuan Robotics repair team. Alarm notes are our own summary for troubleshooting reference only and may vary with controller and software version — please consult ROKAE documentation or contact us if in doubt. Henghuan is an independent service provider, not affiliated with or endorsed by ROKAE.