Yes Multi connectors are prime suspects. Also check pinch points on machine for crushed cables and areas where cables run close to heat and going brittle is common problem on older machines.
Broken shield wires on Connectors is also another common cause of false triggers thru loss of grounding. EMF will trigger e-stop easily and most other sensitive sensors.

PSU units on some of these Controls are very sensitive to power fluctuations so if your supply is a little up/down then this may answer your 24v report.

I bought a large milling machine with Anilam controller that had similair issue giving random reports and strange happenings just before it appeared to expire and give up the ghost on it's previous owner. Who thought the controller had died or more was actually told by so called Anilam engineer it was dead.! (He must have been a marvelous Engineer because he diagnosed all this on the Phone.!!)

Anyway to my good fortune this wasn't the case and was infact just 24v PSU that had gone down, all be it Very expensive PSU if bought from Anilam. It also had several other issues due to age like brittle broken wires, faulty/worn switches etc but none of these affected the control other than tricking it into false errors.
I have how ever since removed the control along with DC brushed servos/drives and currently retrofitting with modern controller and AC servos.