Getting the same error on a Fanuc CR 7ia/L. Happens whilst jogging the robot quickly and in programs.
I have changed the DCS Collaborative mode to allow for the robot to run in a non-collaborative mode. Seemed to solve my issue thus far.
This is not a permanent solution nor is it a viable one for everyone. in my particular application I do not have a need for the collaborative mode.
If anyone has a better solution please post it.