Is this the only Alarm code when it happens?
According to Fanuc:
Error Severity Message Cause Remedy R-30iB Plus:SRVO-473 DCS CLLB CC_EXTF alarm The result is different in 2 CPU for Collaborative Robot. Check the other alarms for more information. Note: You need to cycle power to release this alarm.
We got this alarm again this morning.
Yes, there was an actual collision which threw the first SRVO-050 error. The robot was stopped due to collision it detected. Then a few hours later it threw the SRVO-473 alarm. Nobody was in contact with the robot at this time, and no one did any resetting between the two alarms because it was left overnight and unattended.