Edge of print at layer 10 warps

I am trying to print the Maker Fair Robot thingiverse.com/thing:331035 (in 65pc) and got the problem that the edge of the “hand” warps. Not when printing the first layers - adhesion to the printing bed is good. This results in the print head hitting the object, therefore loosing it´s position and shifting layers (I stopped the print before it got to this).

I also noticed this problem with the “cubic gears” (one STL with four of those gears) and it seems to be caused by the fact that there is too much time between two layers as the printer is moving to the other parts. When I only print one of those gears, they come out fine. Probably because the filament is still warmer and can be pushed down by the print head.

Layer height: 0.3 mm
Speed perimeters: 30 mm/s
Infill: 50 mm/s
Temperature: 200° C
Bed: 50° C
Fan is set to auto between 35 and 100 %

What should I change?

You might try turning the fan off.