Bobcat W4007 (40-07) Fault Code: Right CAN Joystick Y-axis Not in Neutral
Also shown on the panel as 40-07 · Also called Right CAN Joystick Y-Axis Not in Neutral
Right CAN Joystick Y-axis Not in Neutral · ai-assisted, editor-reviewed · Last updated 2026-07-13
TL;DR
W4007 (panel code 40-07) sets when the ACS controller sees the right joystick's Y-axis is not in neutral while PTOL (Pilot Travel Or Lift, joystick control enable) is active. It only occurs in ISO mode, and when it sets, lift and tilt functions are disabled until the fault clears.
Medium severity. Lift and tilt functions are disabled while the code is active, which stops productive work but does not by itself indicate an unsafe machine state. Treat it as a stop-and-diagnose issue rather than an emergency shutdown, unless the joystick is moving on its own.
What does Bobcat error code W4007 mean?
W4007 means the ACS controller (the machine's attachment/auxiliary control system controller) has detected that the right joystick's Y-axis position is not reading neutral at a moment when it expects it to be, specifically when PTOL is enabled. Since the controller can't trust the joystick's neutral signal, it disables lift and tilt as a precaution so the machine doesn't respond to a joystick that might be stuck or reporting incorrectly.
This code is ISO-mode specific, meaning it only shows up on machines running the ISO joystick control pattern. It's tied closely to the cab door: if the door isn't fully latched, or if it's opened and closed while the machine is running, the door sensor can cause this code to set even if the joystick itself is fine.
Because the fault can be caused by something as simple as the operator resting a hand on the joystick, or as involved as a failing ACS controller, diagnosis works best by starting with the simple mechanical and door-related causes before moving into electrical testing.
Common causes of W4007
- Rubber boot around the joystick base binding or holding the stick out of neutral, or the operator physically holding the right joystick out of neutral
- Door sensor fault or incorrect signal, applicable only in ISO mode, often triggered by the door not being fully latched or being opened/closed during operation
- Right joystick base failure
- ACS controller fault
- Moisture, corrosion, or pushed-back pins in the ACS controller connectors, door sensor connector, right joystick connectors, or the ACS wiring harness
- Moisture, corrosion, or pushed-back pins within the right joystick assembly itself
- Intermittent loose connections, corrosion, pushed-back pins, controller issues, or harness problems that may not be present or detectable at the time of testing
How to troubleshoot Bobcat W4007: first checks
- Confirm the cab door is fully latched. Open and reclose it firmly, then check if the code clears when PTOL is re-enabled
- Inspect the rubber boot on the right joystick. Confirm the part number embossed on the inside of the boot is oriented toward the front of the machine, since a misinstalled boot can bind the stick off-center
- Visually and physically check that nothing (a coat, tool, or the operator's hand) is holding the right joystick out of neutral
- Inspect the right joystick base for visible wear, binding, or damage that would prevent it from returning fully to neutral
- Check the ACS controller connectors, door sensor connector, right joystick connectors, and ACS harness connectors for moisture, corrosion, or pushed-back pins
- If running the machine by remote control, use the diagnostic software's Radio Remote Control Diagnostics menu to verify the right joystick signal is being read correctly
- If the code appears intermittently and is not present during testing, treat loose connections, corrosion, pushed-back pins, the controller, or the harness as the likely suspects and recheck connections thoroughly
How the code clears
The listed condition for clearing W4007 is simply that PTOL is enabled. In practice this means once the underlying issue (door latch, joystick binding, connector problem) is resolved and PTOL is enabled again with the joystick reading neutral, the code should clear on its own. No separate reset procedure is listed for this code.
Affected models and serial ranges
W4007 appears in our records across 13 Bobcat models. Match your machine by model and serial number.
| Model | Serial ranges |
|---|---|
| S510 | SN A3NJ11001-99999, SN A3NK11001-99999, SN ATZC11001-99999 |
| S530 | SN A7TV11001-99999, SN ATZD11001-99999 |
| S550 | SN A3NK11001-A3NL99999, SN A3NM11001-99999 |
| S570 | SN A7U711001-799999, SN A7U811001-899999 |
| S590 | SN ANMN11001-99999, SN ANMP11001-99999 |
| S630 | SN A3NT12370-99999, SN A3NU11001-11111, SN A3NU11112-99999 |
| S650 | SN A3NV11001-13098, SN A3NV13099-99999, SN A3NW11001-11248, SN A3NW11249-99999 |
| S770 | SN A39511001-99999, SN A3P411001-99999 |
| T630 | SN A7PU11001-11663, SN A7PU11664-99999 |
| T650 | SN A3P012214-099999, SN A3P111242-199999 |
| T750 | SN ANKA11001-A99999 |
| T770 | SN A3P811001-899999, SN A3P911001-999999 |
| T870 | SN A3PG11001-99999, SN A3PH11001-99999 |
Frequently asked questions
What does Bobcat code W4007 mean?
It means the ACS controller detected that the right joystick's Y-axis was not in the neutral position at a time when PTOL was enabled, and this can only happen in ISO mode. The controller responds by disabling lift and tilt until the condition is resolved.
Why did W4007 disable my lift and tilt functions?
The controller disables lift and tilt as a safety measure whenever it can't confirm the right joystick is truly in neutral. This prevents unexpected movement if the joystick is stuck, obstructed, or sending a bad signal.
Can a cab door cause W4007?
Yes. If the door is not fully latched, or if it's opened and closed while the machine is operating, the door sensor (which is only relevant in ISO mode) can trigger this code even if the joystick itself is working fine.
I'm using remote control and got W4007, what should I check?
Use the diagnostic software's Radio Remote Control Diagnostics menu to verify the right joystick is operating and reporting correctly. This is the specific check called out for remote control setups.
Does the rubber boot on the joystick matter for this code?
Yes. The part number printed on the inside of the boot must face the front of the machine. An incorrectly oriented or misfitted boot can bind the joystick and prevent it from returning fully to neutral, which can trigger W4007.
What if the code comes and goes and I can't find the cause?
Intermittent W4007 codes that aren't present during testing are commonly caused by loose connections, corrosion, pushed-back pins, a marginal controller, or harness issues. Recheck all related connectors carefully even if nothing seems wrong initially.
How do I clear W4007 once I've fixed the problem?
The listed clearing condition is simply that PTOL is enabled again. There's no separate reset procedure, once the joystick reads neutral correctly and PTOL is enabled, the code should clear.