There was a position taught using the other side of the tool, it's a dual gripper that's just mirrored. That being said, I switched the air move (essentially a move that just lowers the arm of the robot towards the ground and I haven't had the alarm in a week. I also slowed down the move quite a bit.
We had the same issue on a DX100/MA3100 setup - I couldn't find an exact fix for it but the cause was a particular robot 'posture change' during a weave; for whatever reason that sine wave as well as the robot's B movement was causing it to fire a collision detection error; I changed the way the robot was postured for the weld and it stopped happening.
Is there a weave where you're getting the error?
This is a handling application so I don't think that's the issue. Thanks though.