Welcome to the forum. Maybe it's the time of day but I'm having a hard time tracking with you. Let's see if you can clear this up and help us help you:
1. Is it one VFD per motor or both motors connected to a single VFD? Please give some more detail on the overall physical connection picture.
2. What is the HOA switch wired to? Drive, PLC, etc.??
3. I'm guessing ESD is not electrostatic discharge. Can you clarify? I'm not sure of the relevance to the issue at this point.
4. Providing make/model info of any drives, PLC, etc. is never frowned upon and usually quite helpful.
That's enough for now...