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FANUC Alarm SVGN-209 — GunA, GunB joint velocity limits differ.

FANUC SVGN-209 (“GunA, GunB joint velocity limits differ.”): Joint velocity limits are different for gunA and gunB. First check: Use the Gun Setup Utility to set the Maximum Speed (i.e.

Updated 2026-09-17 · LogrobotLM reference

Description

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. Peform the following:

Related codes

SVGN-207GunA, GunB sag settings are differentSVGN-208GunA, GunB linear distance is differentSVGN-210GunA, GunB accel times differSVGN-211Incomp weight calc in ATUN

Indicative field information — the robot manufacturer's manual and safety procedures always prevail. Never bypass a safety device; apply lockout/tagout (LOTO) before any physical intervention. How this reference is built →