[DG] [DG11] DRIVE STOPPED troubleshooting

[Kwolfel]

Good afternoon

I own a 2004 Leopard 47 catamaran with a Raymarine ST7002 autohelm.
It has a type II drive unit and I believe an ACU-400 processor.

In the past month it has begun having issues showing Current Limit and occasionally Drive Stopped on the display and then goes back to standby.

The part I do not understand is after about 15 or 20 minutes of doing this it begins to function normally and will be fine for the rest of the day, even under difficult sailing conditions with huge following seas. Where do I begin troubleshooting if it works fine once it has "warmed up"?