The TC presents itself as waiting for the initial/first backup when trying to start a backup. It starts with Looking for Backup disk, then Preparing Backup, then Stopping.
Let's take things a step at a time.
The TC presents itself as waiting for the initial/first backup
Confusing......since this would not be true if you can access previous backups, since that tells you that Time Machine has backed up previously for this Mac and you mentioned that you can see and access previous backups.
The Time Machine software stopped being able to locate the disk
Confusing again.....since you told us that Time Machine can access previous backups and it goes into a "Preparing" mode. This would not be possible if it could not find the disk.
If Time Machine can find the disk......it can, according to your information.....and it starts "Preparing".....and then stops, this is almost always an indication that your backup file on the Time Capsule has become corrupted. When this occurs, you can access "old" backups, but new backups will not run. That seems to be what you are telling us here.
To take a look at the integrity of the current backup file to check for corruption.......
Hold down the option key on your Mac while you click on the Time Machine "clock" icon at the top of the Mac's screen
Click on Verify Backups
You can watch the status of the integrity check by clicking on the Time Machine "clock" icon at the top of the screen and then clicking on Open Time Machine Preferences. This display will look similar to a normal backup, but you will see that a Verification process is underway.
The Verify Backups process might take anywhere from a few minutes to more than an hour depending on how much data is stored in the backup file. Let the process run until it completes.....or.....until you see an error message.
Please post back when you see that the process has completed. If an error message appears, please post back with the exact text of the message.