cRIO cutting out 5 s after collision

[rtrahms]

Hi all -
Chill Out Team 1778 here. We are chasing an intermittent problem with our robot, and it is usually connected to a large collision. We've been troubleshooting the connections, but wondered if anyone has suggestions on how to isolate this problem effectively.

Robot config:
Basic kitbot chassis with 4 drive motor CIMs, and two additional motors for gate & rolller attachment. All 6 motors controlled by black Jaguars on a CAN bus wired to a 2CAN bus controller and terminated with a 100 ohm terminator. The 2CAN is also connected to a cRIO and on the network side to a wireless router.

Normally everything works fine, but if the robot gets hit hard on the gate, the robot will stop all response for 5 seconds before continuing. During this time the 2CAN shows a flashing red light, and then after 5 seconds returns to green flashing. We have checked the cRIO to 2CAN cable, and nothing seems to be wrong there. 5 seconds isn't enough time for the cRIO to reboot, so something else appears to be going on.

Thoughts?

Thanks in advance,
Rob