Next time it happens I’d see what it takes to get it running without reloading the job. If it has NV RAM errors try a GET command. That will also tell you if any parameters are out of range. One thing that could be happening is J16 could be changing on you. Should be 18 on a TAC32. Usually changes to 0 but I’ve seen it change to 17. Check your power supply for ripple and the controller grounding. If you are getting repeated NV RAM errors or a parameter keeps changing on you, all you can really do is replace the CPUA.