I have a Fanuc R2000 with a 7th axis. During the process the robot is stationary while the track is moving. On a couple occasions I have seen the Axis 5 disturbance value slowly increase to the point of collision detection. This is over a 2.5 hour period. As soon as the robot is moved the current "unwinds" and returns close to zero.
I have adjusted my collision sensitivity to increase the threshold,
Fine tuned my payload data.
Looked into turning on the brakes, but all axis are on the same group so I cant just disable A5 while its not moving.
I could try to move the track and the robot a little to keep the robot axis turning so this issues doesn't pop up, but it seems like a Band-Aid solution