Also I had a similar problem... while the robot was runing in regular production the robot stoped in abrut way showing the SRVO-069 CRCERR alarm (Grp:2 Ax: 1), where the grup 2 axis 1 its our EOAT. We detect that the problem was the Power cable of the Motor was broken. We turn off the robot and replaced the power cable and start up without any other problem.
Note: when you replased the clable be care to ensure the cable is correctly wired in order to avoid damage in clable or the cable is moviong while is the Robot is running.