"Snubber circuit sitting directly at motor is often called 'motor filter'. "

Yes Raj, mostly this could kill your problem of hang up. I have had a very nasty experience with a signal conditioner handling a torque sensor output. Everything used to be fine and suddenly it used to start a crazy hunting, screwing up the whole PC-DAS card's analog channels. It took some time to home-in on the culprit - a 1HP circulation motor that was in Auto mode to empty a drain reservoir as it got filled up. Once the motor terminals were fitted with 3-Phase snubbers, the problem never came back.

But still your MCU heating up while hanging is something to analyse further.

Raghu