One of the nodes is in fault mode

Technical Questions
1

Hello everyone,
I want to discuss a topic related to a technical issue.
So we have 2 projects that are running with the same environment, similar payload, similar movement, and the same end tool, with the details below:

  1. Project that uses UR CB3 (Project A):
  • Already running for around 7 years
  • Running 8 hours a day
  1. Project using UR CB5 (Project B):
  • Already running for around 4 years.
  • Running on demand, not much as project A

Project A has been running smoothly until now.
But for project B, there is some technical issue related to the joint (warning message: One of the nodes is in fault mode); it has already happened twice in the last year with different joints. The resolution that we make is to replace the joint.
The difference between the two projects that we know for now is that UR program for project B is more complex and has more logical cases than project A.

so what i want to discuss, is the UR programs complexcity relate to the joint issue? Do we need to simplify the UR programs for Project B?

Thank you before.