Many have a habit of having long running jobs start after Midnight (00:00) which is generally around the time the Recycle job runs - if something else is running, the job fails. The solution is quite simple - either A) review and modify jobs that run at the same time as the Recycle job and make sure they don't overlap or B) simply change the time that the recycle happens. Since A may take some time, B is quite simple.
Open Central Administration and click Monitoring then Review job definitions and look for "Timer Service Recycle" (you'll have to page through to find it). Click to open the job and change the Starting time to be either earlier or later than other long running jobs. In most cases (depending on the installation and/or 24 x 7 usage), you can usually set it for late evening (like 10 PM).
For more reference, see here: