What the 40001 alarm means

The commanded target pose is outside the robot's reachable workspace; the motion planner rejects it. Codes 4xxxx are motion-planning errors. This fault appears in a large share of our AUBO i-series / C-series (ARCS SDK) service tickets, and the first round of on-site checks usually finds the source.

Most common causes

  • Taught point beyond reach after a program edit
  • Wrong user/tool frame selected
  • Coordinate offset applied twice
  • Part position drifted beyond the taught envelope
Field note: Most of the time the problem is the first item on the list, so ruling it out saves you half the time.

Step-by-step field fix

  1. Jog to the target manually to confirm reachability
  2. Verify the active user and tool frames
  3. Check offset calculations in the program
  4. Re-teach the point within the workspace
  5. Add a reach check when the part supply varies
Safety first: For AUBO 40001, 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: Jog to the target manually to confirm reachability. Beyond that it is the arm working envelope work - leave it to a professional.

How we diagnose motion alarms on site

AUBO 40001 belongs to the motion & path family. On AUBO 40001 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 40001 at the pendant alarm list and SDK / ARCS return codes; 1xxxx joint level, 2xxxx / 3xxxx safety and communication.

The chain involved in AUBO 40001 runs: program command -> trajectory planner -> joint targets -> servo execution -> actual position feedback -> deviation compare.

The clearest field clue for AUBO 40001 is Taught point beyond reach after a program edit; 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 40001 (Target Out of Workspace); 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 AUBO 40001 every day, and remote diagnosis by phone/video is free.

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Hotline: +86-20-39029800 · WhatsApp: +86-188-1886-2860

Related Motion & Path alarms

10002 — Joint Overspeed (JOINT_ERR) 10003 — Joint Position Tracking Error (JOINT_ERR) 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 40001 alarm mean?

The commanded target pose is outside the robot's reachable workspace; the motion planner rejects it. Codes 4xxxx are motion-planning errors. This fault appears in a large share of our AUBO i-series / C-series (ARCS SDK) service tickets, and the first round of on-site checks usually finds the source. AUBO 40001 sits in the motion & path family; on our work orders the highest-frequency trigger for this code is "Taught point beyond reach after a program edit".

QCan I clear a AUBO 40001 alarm myself?

Whether AUBO 40001 clears on its own depends on the outcome of "Jog to the target manually to confirm reachability". Finish the flow with "Add a reach check when the part supply varies" to confirm AUBO 40001 - do not skip it. If that step is clean, the second most frequent cause on AUBO 40001 is "Wrong user/tool frame selected". After clearing AUBO 40001, watch it for one shift. A second trip means stop and let an engineer arrive with the right test gear for the arm working envelope.

QFor motion alarms like AUBO 40001, can you triage remotely first?

The commonest causes we see on AUBO 40001 are "Taught point beyond reach after a program edit, Wrong user/tool frame selected, Coordinate offset applied twice", so we stock the van against those. For AUBO 40001 specifically, we carry mechanical and configuration items: grease, limit switches, drag-chain segments, encoder cables and the parameter sheets for common reducers. For AUBO 40001, motion alarms can often be narrowed remotely first, so an on-site visit is not always immediate. Before we roll, tell us what AUBO 40001 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 40001 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.