What the 10004 alarm means

Joint motor or drive temperature exceeded the limit; the joint is inhibited until it cools. We are very familiar with this alarm on AUBO i-series / C-series (ARCS SDK) systems — usually the first on-site inspection is enough to confirm the cause.

Most common causes

  • Duty cycle too aggressive
  • High ambient temperature
  • Payload above rating
  • Long static holding at high torque
Field note: Our ticket data shows the first cause is by far the most common — start there to avoid dead ends.

Step-by-step field fix

  1. Allow the joint to cool before re-enabling
  2. Reduce speed, payload, or hold time in the program
  3. Verify the payload setting matches the real tool
  4. Improve cell ventilation
  5. Monitor joint temperatures in the diagnostics interface
Safety first: For AUBO 10004, service work needs lock-out/tag-out: an e-stop alone is not isolation - servos stay live and an accidental enable will move the axis. The self-serviceable action is Allow the joint to cool before re-enabling; anything past that falls under mechanical areas and rotating parts and needs a certified engineer.

What we recommend for maintenance reminders

AUBO 10004 belongs to the maintenance due family. On AUBO 10004 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 - not a fault but a due-date signal: runtime or cycle counters reached a service interval and the controller asks for maintenance. We start reading AUBO 10004 at the pendant alarm list and SDK / ARCS return codes; 1xxxx joint level, 2xxxx / 3xxxx safety and communication.

The chain involved in AUBO 10004 runs: runtime / cycle counters -> service item due -> reminder alarm -> stop window planned -> consumables changed and re-checked.

For AUBO 10004 confirm which service item is due first: Maintenance is not swapping parts by feel; it is working an interval table item by item. Intervals differ widely - grease, batteries, fans and filters each run their own clock, and reducer re-greasing intervals depend on load duty: a high-takt continuous cell re-greases sooner. We put the official interval table for the model next to the customer's actual duty, compute due dates per item and hand over a schedule, so nothing due gets missed and nothing not due gets spent on.

Field notes on this page cover AUBO 10004 (Joint Overtemperature (JOINT_ERR)); written by the Henghuan repair team, updated 2026-10-01.

Can't clear it yourself? Contact us for remote diagnosis

Tell us the alarm code, the model and what the machine was doing when the alarm appeared. AUBO 10004 is an everyday diagnosis for our engineers, and remote diagnosis (phone or video) costs nothing.

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Related Maintenance alarms

10001 — Joint Overcurrent (JOINT_ERR) 10002 — Joint Overspeed (JOINT_ERR) 10003 — Joint Position Tracking Error (JOINT_ERR) 10005 — Joint Encoder Error (JOINT_ERR) 10006 — Joint Communication Error (JOINT_ERR) 10007 — Joint Voltage Abnormal (JOINT_ERR)
Same family: this code belongs to the Maintenance due alarms family - the page collects all Maintenance due-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 10004 alarm mean?

Joint motor or drive temperature exceeded the limit; the joint is inhibited until it cools. We are very familiar with this alarm on AUBO i-series / C-series (ARCS SDK) systems — usually the first on-site inspection is enough to confirm the cause. AUBO 10004 sits in the maintenance due family; on our work orders the highest-frequency trigger for this code is "Duty cycle too aggressive".

QCan I clear a AUBO 10004 alarm myself?

Whether AUBO 10004 clears on its own depends on the outcome of "Allow the joint to cool before re-enabling". Finish the flow with "Monitor joint temperatures in the diagnostics interface" to confirm AUBO 10004 - do not skip it. If that step is clean, the second most frequent cause on AUBO 10004 is "High ambient temperature". If AUBO 10004 returns after two clears, or the checks point at Duty cycle too aggressive, stop the cell and call a professional robot repair engineer.

QAUBO 10004 is only a maintenance reminder - do I need an engineer on site?

The commonest causes we see on AUBO 10004 are "Duty cycle too aggressive, High ambient temperature, Payload above rating", so we stock the van against those. For AUBO 10004 specifically, we stock consumables against the interval table: grease, batteries, filter mats, belts - changed in one visit to avoid a second stop. For AUBO 10004, a maintenance reminder can be planned rather than rushed, but fit it into the nearest stop window. Before we roll, tell us what AUBO 10004 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 content on AUBO 10004 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 AUBO documentation, or contact us to confirm. Henghuan is an independent service provider with no affiliation or endorsement by AUBO.