The session setup from the computer %computername% failed to authenticate.

The cause of this error is the expired computer accound password. By Default computer accounts change password automaticly in every 30 days. If, replication between computer and dc's are not successfull after password changes DC will remove computer account from domain.

You can disable this behaviour from group policy settings,

Setting is under Computer Configuration -> Windows Settings -> Security Settings -> Local Policies/Security Options -> Domain Member: Domain Member: Disable machine account password changesYou should enable this settings.