What the 60200 alarm means

The planned Cartesian path passes too close to a kinematic singularity; joint speeds would exceed limits, so the motion is rejected. 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

  • Linear move through a wrist or shoulder singularity
  • Large reorientation as a linear move
  • Path taught in the folded-arm posture
Field note: The first cause shows up most on real machines, so verify it before you go further.

Step-by-step field fix

  1. Re-plan the path around the singular posture
  2. Use joint moves for big reorientations
  3. Insert via points to keep the wrist off alignment
  4. Reduce speed near unavoidable singularities
  5. Simulate the path before production
Safety first: For ROKAE 60200, 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. On site you may look at after confirming power-off the first step yourself: Re-plan the path around the singular posture. Beyond that it is the arm working envelope work - leave it to a professional.

How we diagnose motion alarms on site

ROKAE 60200 belongs to the motion & path family. On ROKAE 60200 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 60200 at the pendant alarm list; codes segment as 1xxxx / 5xxxx / 6xxxx.

The chain involved in ROKAE 60200 runs: program command -> trajectory planner -> joint targets -> servo execution -> actual position feedback -> deviation compare.

The clearest field clue for ROKAE 60200 is Linear move through a wrist or shoulder singularity; 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 60200 (Singularity Approached); written by the Henghuan repair team, updated 2026-10-01.

Not sure? Don't force it — contact an engineer

Send the alarm code, the robot model and a description of what was happening at the alarm. Our engineers handle ROKAE 60200 every day, and remote diagnosis by phone/video is free.

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Related Motion & Path alarms

10020 — Motion Planning Failed 60100 — Joint Limit / Workspace Violation
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 60200 alarm mean?

The planned Cartesian path passes too close to a kinematic singularity; joint speeds would exceed limits, so the motion is rejected. This fault ranks high in our ROKAE xCore (XB / CR / NB series) service records, and the first site inspection usually finds the source. ROKAE 60200 sits in the motion & path family; on our work orders the highest-frequency trigger for this code is "Linear move through a wrist or shoulder singularity".

QCan I clear a ROKAE 60200 alarm myself?

Whether ROKAE 60200 clears on its own depends on the outcome of "Re-plan the path around the singular posture". Finish the flow with "Simulate the path before production" to confirm ROKAE 60200 - do not skip it. If that step is clean, the second most frequent cause on ROKAE 60200 is "Large reorientation as a linear move". If ROKAE 60200 returns after two clears, or the checks point at Linear move through a wrist or shoulder singularity, stop the cell and call a professional robot repair engineer.

QFor motion alarms like ROKAE 60200, can you triage remotely first?

The commonest causes we see on ROKAE 60200 are "Linear move through a wrist or shoulder singularity, Large reorientation as a linear move, Path taught in the folded-arm posture", so we stock the van against those. For ROKAE 60200 specifically, we carry mechanical and configuration items: grease, limit switches, drag-chain segments, encoder cables and the parameter sheets for common reducers. For ROKAE 60200, motion alarms can often be narrowed remotely first, so an on-site visit is not always immediate. Before we roll, tell us what ROKAE 60200 shows on the pendant alarm list; codes segment as 1xxxx / 5xxxx / 6xxxx and what the machine was doing - phone or video triage is free.

The content on ROKAE 60200 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 ROKAE documentation, or contact us to confirm. Henghuan is an independent service provider with no affiliation or endorsement by ROKAE.