Debounce is already set at 2000, I'm probably sure I could have some noise problems, sometimes, I get a Emergency stop when working or even when router is not working at all.

I should remove all wires and install shielded cable, but this would be a huge job to do. They're all in cable track.

If you are still getting random estops then push the debounce up, 5000 or even 10000.

You don't have to leave it that high but it will help show if that is your problem.

You don't necessarily need shielded cable. There are a few other tricks available.

But first find out if that is the problem.

Greg