This error below will prevent you also from joined the device to the domain. Like i always say, the solution I employed to solve this problem can be different from yours. The error message can be the same but the solution can be different as there could be many underlying reasons for this error.
Solution: Ensure your server is pointing to the DNS server Address or else this will not work correctly as shown below
When the TCP/IP properties field are filled correctly as shown above. Since Active Directory relies on DNS (Domain Naming Service), this error will be eradictaed.
Now you can have your device joined to your domain correctly.