What the 60100 alarm means

A commanded move would drive a joint past its software limit or the TCP out of the allowed workspace; the controller blocks the motion. In our ROKAE service archive this alarm on xCore (XB / CR / NB series) systems shows up constantly, and the first on-site inspection almost always locates it.

Most common causes

  • Taught point beyond a joint limit
  • Wrong frame making valid points appear out of range
  • Software limits set tighter after a cell change
  • Part position drifted
Field note: The first cause is the most common in the field — check it first, then work through the rest.

Step-by-step field fix

  1. Jog the joint to confirm the real limit
  2. Verify the active frames
  3. Review software limits if the cell layout changed
  4. Re-teach the offending points
  5. Add position checks where parts vary
Safety first: For ROKAE 60100, 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 Jog the joint to confirm the real limit; the arm working envelope handling is not a DIY job.

How we diagnose motion alarms on site

ROKAE 60100 belongs to the motion & path family. On ROKAE 60100 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 60100 at the pendant alarm list; codes segment as 1xxxx / 5xxxx / 6xxxx.

The chain involved in ROKAE 60100 runs: program command -> trajectory planner -> joint targets -> servo execution -> actual position feedback -> deviation compare.

First check whether ROKAE 60100 only appears at one pose - A six-axis arm near wrist extension or near axis-5 zero has a Jacobian approaching singularity: tiny tool moves demand huge joint rates, and the controller either reports following error or the arm snaps through. When the report is alarms at one position and clean on another path, suspect the singular region first. The fix is not raising speed limits but routing around it: move the part, add an intermediate point, or pass the region in joint interpolation.

Field notes on this page cover ROKAE 60100 (Joint Limit / Workspace Violation); written by the Henghuan repair team, updated 2026-10-01.

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Related Motion & Path alarms

10020 — Motion Planning Failed 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 60100 alarm mean?

A commanded move would drive a joint past its software limit or the TCP out of the allowed workspace; the controller blocks the motion. In our ROKAE service archive this alarm on xCore (XB / CR / NB series) systems shows up constantly, and the first on-site inspection almost always locates it. ROKAE 60100 sits in the motion & path family; on our work orders the highest-frequency trigger for this code is "Taught point beyond a joint limit".

QCan I clear a ROKAE 60100 alarm myself?

Whether ROKAE 60100 clears on its own depends on the outcome of "Jog the joint to confirm the real limit". Finish the flow with "Add position checks where parts vary" to confirm ROKAE 60100 - do not skip it. If that step is clean, the second most frequent cause on ROKAE 60100 is "Wrong frame making valid points appear out of range". Do not chase takt through a repeating ROKAE 60100. Left alone, motion & path faults tend to graduate from repairable to must-replace.

QFor motion alarms like ROKAE 60100, can you triage remotely first?

The commonest causes we see on ROKAE 60100 are "Taught point beyond a joint limit, Wrong frame making valid points appear out of range, Software limits set tighter after a cell change", so we stock the van against those. For ROKAE 60100 specifically, we carry mechanical and configuration items: grease, limit switches, drag-chain segments, encoder cables and the parameter sheets for common reducers. For ROKAE 60100, motion alarms can often be narrowed remotely first, so an on-site visit is not always immediate. Before we roll, tell us what ROKAE 60100 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 60100 is based on the field experience of the Henghuan Robotics repair team. Alarm explanations are our own summary for troubleshooting reference and may differ across controller and software versions — if unsure, verify against ROKAE documentation or reach out to us. Henghuan is an independent service provider with no affiliation or endorsement by ROKAE.