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Dornhedge already answered the error code part of your question. So, I'll respond to why your arm keeps moving.
Actually, your example already hints the answer.
Action failed: ACTIVE
Timed out achieving goal A
Action failed: PENDING
Your action goal only failed, because it got timed out (go to A in X seconds). However, move_arm uses another action server for executing arm motions (FollowJointTrajectoryAction). Unfortunately, move_arm does not cancel the execution action, once its own goal has been aborted/preempted. In your case that is not too bad, but in some cases you really want to stop the execution.
Have a look at this Q&A to find out how to cancel the execution, if you cancel a move_arm action.
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