@hbm-3d
I'd guess you have a CAN bus problem; interference from other wiring, bad termination or a bad connection, so some data is being corrupted and causing the system to misbehave.
A power brownout that did not cause a full reset at the toolboard could also give a similar effect, again possibly a bad connection somewhere?
Are the CAN connections either twisted pair in each run, or well separated from other wiring ?