What the 10002 alarm means

A commanded motion required joint speed above the axis limit; the controller refuses or aborts the motion. This is a routine repair in our workshop for AUBO i-series / C-series (ARCS SDK) systems, and we normally pin it down during the first site check.

Most common causes

  • Linear path passing near a singularity
  • TCP speed set too high for the posture change
  • Blend/corner radius too tight
Field note: Begin with the first item in the list; it has a far higher on-machine occurrence rate than the others.

Step-by-step field fix

  1. Re-teach the path to avoid singular postures
  2. Reduce TCP speed on the failing segment
  3. Increase corner radius or add via points
  4. Use joint-space moves for large reorientation
  5. Dry-run at low speed override to confirm
Safety first: For AUBO 10002, 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. The self-serviceable action is Re-teach the path to avoid singular postures; anything past that falls under the arm working envelope and needs a certified engineer.

How we diagnose motion alarms on site

AUBO 10002 belongs to the motion & path family. On AUBO 10002 the failing stage is joint-integrated drives (motor, drive and reducer in one joint); joint faults report by joint number on the AUBO collaborative robot controller - the gap between command and execution: trajectory planning, joint limits, singularities, following error and mechanical resistance. We start reading AUBO 10002 at the pendant alarm list and SDK / ARCS return codes; 1xxxx joint level, 2xxxx / 3xxxx safety and communication.

The chain involved in AUBO 10002 runs: program command -> trajectory planner -> joint targets -> servo execution -> actual position feedback -> deviation compare.

The clearest field clue for AUBO 10002 is Linear path passing near a 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 AUBO 10002 (Joint Overspeed (JOINT_ERR)); written by the Henghuan repair team, updated 2026-10-01.

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Related Motion & Path alarms

10003 — Joint Position Tracking Error (JOINT_ERR) 40001 — Target Out of Workspace 40002 — Singularity in Path
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 ROKAE · Dobot · FANUC and more — see the complete alarm code hub.

Frequently asked questions

QWhat does the AUBO 10002 alarm mean?

A commanded motion required joint speed above the axis limit; the controller refuses or aborts the motion. This is a routine repair in our workshop for AUBO i-series / C-series (ARCS SDK) systems, and we normally pin it down during the first site check. AUBO 10002 sits in the motion & path family; on our work orders the highest-frequency trigger for this code is "Linear path passing near a singularity".

QCan I clear a AUBO 10002 alarm myself?

Whether AUBO 10002 clears on its own depends on the outcome of "Re-teach the path to avoid singular postures". Finish the flow with "Dry-run at low speed override to confirm" to confirm AUBO 10002 - do not skip it. If that step is clean, the second most frequent cause on AUBO 10002 is "TCP speed set too high for the posture change". Do not chase takt through a repeating AUBO 10002. Left alone, motion & path faults tend to graduate from repairable to must-replace.

QFor motion alarms like AUBO 10002, can you triage remotely first?

The commonest causes we see on AUBO 10002 are "Linear path passing near a singularity, TCP speed set too high for the posture change, Blend/corner radius too tight", so we stock the van against those. For AUBO 10002 specifically, we carry mechanical and configuration items: grease, limit switches, drag-chain segments, encoder cables and the parameter sheets for common reducers. For AUBO 10002, motion alarms can often be narrowed remotely first, so an on-site visit is not always immediate. Before we roll, tell us what AUBO 10002 shows on the pendant alarm list and SDK / ARCS return codes; 1xxxx joint level, 2xxxx / 3xxxx safety and communication and what the machine was doing - phone or video triage is free.

The notes on AUBO 10002 were summarized by the Henghuan Robotics repair team from on-site service. The alarm interpretation is our empirical summary for troubleshooting reference and may vary by controller and software version — please check AUBO documentation or contact us with questions. Henghuan is an independent service provider, not affiliated with or endorsed by AUBO.