What the 10002 alarm means

A commanded motion required joint speed above the axis limit; the controller refuses or aborts the motion. This is one of the faults our repair team handles on AUBO i-series / C-series (ARCS SDK) systems — the cause is usually identifiable within the first on-site inspection.

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: 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. 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: 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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Related Motion & Path alarms

10003 — Joint Position Tracking Error (JOINT_ERR) 40001 — Target Out of Workspace 40002 — Singularity in Path
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. In field practice it belongs to the motion & path family of faults.

QCan I clear a AUBO 10002 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 AUBO documentation or contact us. Henghuan is an independent service provider, not affiliated with or endorsed by AUBO.