Code SVGN-209: GunA, GunB joint velocity limits differ.
Issue Description & Safety Warning
The Fanuc R-30i Series Robot Controller has triggered a critical GunA, GunB joint velocity limits differ. alarm. Immediate attention from a qualified operator or maintenance technician is required to prevent secondary damage to the equipment or spoiled parts during the manufacturing cycle. Always ensure standard safety and LOTO procedures are followed before accessing electrical cabinets.
Official Troubleshooting Steps
Cause: Joint velocity limits are different for gunA and gunB. The joint velocity limits must be equal to achieve synchronized contact with the part. Remedy: Use the Gun Setup Utility to set the Maximum Speed (i.e. joint velocity limit) of both Gun A&B to the same value. Perform the following: 1. Press MENUS. 2. Select UTILITIES. 3. Select GUN SETUP. 4. Press F6, DG_CHECK. 5. Press F4, SETSPD and reply YES to the prompt to set the speed to the same value. 6. Cycle Power to activate the change. 4.ERROR CODES B-83124EN-6/02
Source: FANUC Robot R-30iA Alarm Code List Operator's Manual
Last reviewed: 2026-07-01 · Verified against the manufacturer’s official documentation.
About Fanuc R-30i Series Robot Controller Alarms
Fanuc controllers include extensive self-diagnostics that flag or halt the machine when a fault is detected. Error code SVGN-209 on the R-30i Series Robot Controller identifies one specific fault condition — its documented cause and the official corrective steps are listed above, sourced from Fanuc's service documentation. Always confirm against the manual for your exact machine configuration and follow LOTO procedures before servicing.
Complete Alarm List: 6553 Fanuc R-30i Series Robot Controller codes.
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