Epson G10-851SR-UL SCARA Robot

Started experiencing issues today with Epson G10-851SR-UL Robot, randomly the pick position will be off enough to cause crash when axis 3 (Z) travels down to pick up part. At any speed greater than 70% this happens more frequently, at 70% or lower it will allow line to run for longer periods before issues occurs again. Robot has been running at 90% speed for 2 years without this issue up until now, axis 1 or 2, or possibly both seem to be not stopping in the correct positions before axis 3 travels down to pick up part. Epson service tech suspects brake on axis 3 which isn't making sense as this is Z, appears that axis 3 is not positioned correctly (too far left or right) over the part before axis 3 travels down to pick up part. MM tech informed group that this started happening previous night after a crash of double stacked part. Would be beneficial to have some experienced input on this subject/issue.

Thanks

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I'd confirm that nothing else got damaged in the first crash. Loose gripper jaws, a gripper open sensor got moved, a loose screw on the part fixturing or whatever transports the part into the machine.

Thanks for input however not the issue, axis 1 and 2 or both are off position a great deal when this occurs. Still running at 70% with no more issues, this of course has limited production by 20% so will still need to figure out the issue.