What the 40002 alarm means

The planned Cartesian path passes through or too near a kinematic singularity, where joint speeds would exceed limits. 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 move through a wrist singularity
  • Large reorientation commanded as a linear move
  • Path taught too close to the arm's folded posture
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-plan the path around the singular posture
  2. Use joint-space moves for large reorientations
  3. Add via points to keep the wrist away from alignment
  4. Reduce speed near unavoidable singularities
  5. Simulate the path offline before running
Safety first: For AUBO 40002, 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. What you can check yourself first is Re-plan the path around the singular posture; the arm working envelope handling is not a DIY job.

How we diagnose motion alarms on site

AUBO 40002 belongs to the motion & path family. On AUBO 40002 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 40002 at the pendant alarm list and SDK / ARCS return codes; 1xxxx joint level, 2xxxx / 3xxxx safety and communication.

The chain involved in AUBO 40002 runs: program command -> trajectory planner -> joint targets -> servo execution -> actual position feedback -> deviation compare.

First check whether AUBO 40002 only appears at one pose - A six-axis arm near wrist extension or near axis-5 zero has a Jacobian approaching singularity: tiny tool moves demand huge joint rates, and the controller either reports following error or the arm snaps through. When the report is alarms at one position and clean on another path, suspect the singular region first. The fix is not raising speed limits but routing around it: move the part, add an intermediate point, or pass the region in joint interpolation.

Field notes on this page cover AUBO 40002 (Singularity in Path); written by the Henghuan repair team, updated 2026-10-01.

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Related Motion & Path alarms

10002 — Joint Overspeed (JOINT_ERR) 10003 — Joint Position Tracking Error (JOINT_ERR) 40001 — Target Out of Workspace
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 40002 alarm mean?

The planned Cartesian path passes through or too near a kinematic singularity, where joint speeds would exceed limits. 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 40002 sits in the motion & path family; on our work orders the highest-frequency trigger for this code is "Linear move through a wrist singularity".

QCan I clear a AUBO 40002 alarm myself?

Whether AUBO 40002 clears on its own depends on the outcome of "Re-plan the path around the singular posture". Finish the flow with "Simulate the path offline before running" to confirm AUBO 40002 - do not skip it. If that step is clean, the second most frequent cause on AUBO 40002 is "Large reorientation commanded as a linear move". If AUBO 40002 returns after two clears, or the checks point at Linear move through a wrist singularity, stop the cell and call a professional robot repair engineer.

QFor motion alarms like AUBO 40002, can you triage remotely first?

The commonest causes we see on AUBO 40002 are "Linear move through a wrist singularity, Large reorientation commanded as a linear move, Path taught too close to the arm's folded posture", so we stock the van against those. For AUBO 40002 specifically, we carry mechanical and configuration items: grease, limit switches, drag-chain segments, encoder cables and the parameter sheets for common reducers. For AUBO 40002, motion alarms can often be narrowed remotely first, so an on-site visit is not always immediate. Before we roll, tell us what AUBO 40002 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.

This page on AUBO 40002 was 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.