So you heavenly one end connected to ground but that point is at the plug/socket?
It should be ok like that, motor cables do not even need to be shielded really - they are higher voltage and current connections which are generally immune to interference and also emit very little as well, i don't think that area is your problem.
Has it always been dodgy/losing steps or is this new behaviour?
Even messy wiring can work, its not ideal but I have seen a complete rats nest of unshielded wiring in a commercial plasma table controller that even shocked me, and they were being sold like that!