Gday Geoff
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The display in the hand controller says " motor stalled" but this is not the case as the motors run until they hit their stop point,
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The main board tells the motor cards to move the motor and then has to continually ask the motor cards for position info.
If the main card asks for position data and doesnt receive it back, it declares that fault.
If the motor card is asked to move, it will ( automatically ) keep upping the power until it gets to speed. If the encoder feedback loop isnt working, the speed just keeps going up, but the "recorded" movement will be zero.
Random starting and stopping of both motors is odd and really sounds like the main card has problems, not the motor cards, but it may just be grot/corrosion in the push on connectors.
You could try removing the covers and refitting all the push on connectors several times ( to wipe the connectors clean )
In many cases this fixes the problem.
Andrew