By saying you checked the impedance is that measured with a meter or the the rated impedance as printed on the back of the sub, as the two differ. Impedance is the resistance to current offered to a current by a coil which differs from the resistance measured by a multimeter because of the effect of the magnetic field built up by the (voice)coil when a current passes through it.
Disconnect all speakers from the amp. Disconnect the input from the head unit. Use different wiring to run power and earth direct from the battery. Connect the sub. Jumper a wire between positive and the "remote on" connection at the amp.(This will power up the ampwithout the use of the head unit) Does the problem persist? If so, the problem is most probably with the power IC's. You can attempt to swop them out yourself or have the amp sent in for repair. You'll need a philips screwdriver, solder and a soldering iron. The power IC's are mounted on the amp casing held in place with 2 screws and an aluminium plate and of course the solder on the circuit board. You will need to remove the whole circuit board from the casing in order to desolder the IC's. This is done by unscrewing all the screws that hold the IC's in place. The power IC's are the large ones(should be 2) with the many pins(about 12) that are soldered into the board. Desolder (use a paintbrush to wipe away the hot solder) the IC from the board and take it with you when purchasing new. This is a bit of a gamble because you dont know for sure that is where the problem lies so it's up to you. With reassembly you will need some heat conducting paste between the IC and casing.
After connecting new wire as described above, sub connected and no warning light, connect the input from the head unit. Replace the sub with any speaker of at least 4 ohm impedance. Use 1 speaker only. Do not connect other speakers. Does the problem persist? If so your amp is definately faulty. If not the sub is at fault or you've wired it wrong.
When wiring a sub to an amp wire (+) from amp channel A to (+) on sub. (-) on sub to (-) on amp channel B and set the amp to "bridged" mode. Adding more speakers to the amp in this fashion will lower the impedance so it is not advised. If you want to use more than one sub, wire each one to its own channel on the amp and turn off bridge mode(recommended), or set bridge mode but connect the subs in series : (+) on amp to (+) sub 1, (-) on sub 1 to (+) on sub 2, (-) on sub 2 to (-) on amp.
Bear in mind that with the amp installed correctly and the correct rating load applied to the output, if the problem persists, you have a problem in the amp. It is not user serviceable, unless you have electronics training and the correct measuring equipment(Oscilloscope, multimeter). You can continue substituting parts, but that is a hit and miss affair untill you happen to replace the correct part. I only suggested the power IC's as that is the most probable cause of the problem.
Below is a diagram of commonly used configurations. There are more, but these are the most common. The resultant impedance is underlined in black. RE is remote on, signal connection from the head unit is not shown. If you are using 2 ohm speakers all the values can be halved, which means the bottom left configuration will leave you outside spec.