[bardd]

Sounds like you have power problems, check that all the fuses are good and if the wago connection is not loose (the cords tend to slip out over time). Also, I'd check to see if the cable from the cRIO to the Sidecar is fine, since the robot's game state seems to have an influence, although I don't think that's the problem since you say it worked in CTTD and hasn't changed since.