Hi,
There is a "System failure state" error in the robot. It happens twice a day. When I look at the records, there are "Communication lost with Drive Module" and "Underrun in the Axis computer" errors. The robot has been working in the spot welding process. It has been going on for a long time and the reason has not been found. When an error occurs, it is fixed with a warm start.
I'm waiting for your help.