It is a very strange problem. I can guess that the driver is fully loaded when receiving "go home" command. Does the same problem occur when you push gimbal by hand to provide a full load for the driver?
Also, ensure you have the latest firmwares for CAN_DRV and CAN_MCU and GUI fresh version.

@alexmos: latest firmware installed. I am using a wireless remote from a Came TV Argo gimbal. Not knowing how to program usage of button on the remote control I am using the MOLEX terminal button pin on the CAN_MCU board and it works ok with this error from time to time. No errors when I push the gimbal axe by hand. I am using two motors for the pitch axis, it is hard to push the gimbal to full load but still no error of this kind.

@signx: I will share the profile file ASAP. Thanks!