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 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

  • 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: 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. 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: 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

10002 — Joint Overspeed (JOINT_ERR) 10003 — Joint Position Tracking Error (JOINT_ERR) 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 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. In field practice it belongs to the motion & path family of faults.

QCan I clear a AUBO 40001 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.