This study aims to design ergonomic warning sound that is not confusing and enhancing preference. Four factors of the warning sound represented as interval, chord, reverberation and pitch were selected as independent variables. And, perceived urgency, perceived criticality, degree of confusion and user preference are measured as dependent variables. An experiment was conducted in silent lab environment. Warning sounds were given in 90dB constantly to subjects through stereo speakers. A statistical analysis revealed that interval was significant for perceived urgency; also interval and chord were both effective for perceived criticality. Pitch, interval, chord and the interaction between pitch and chord were effective in degree of confusion, so were reverberation, the interaction between reverberation and pitch and the interaction between reverberation and chord for preference. This study characterized the situation under which warning sounds are required into three types in terms of urgency and criticality; and found the right warning sound that the subjects perceived to best represent the situation through the validation study. These findings are expected to help the designer choose the right warning sound according to the situational contexts in which such warning sounds are implemented.