I have recently started working with KRC2 robot. Robot was working fine when I started but then suddenly one day It started throwing multiple errors in the following sequence i.e.
-> Calibration reference switch defect
-> SafeRDW szstem error 3002 
-> Drives contractor off
-> Brake test required
Robot has an extruder, but I checked the cables and there is no damage (external) due to heat.
Could someone help me troubleshoot the issue.