If the robot is waiting for an Item more that 2 minutes, It will loose the first pick. This is because by default the parameter Brake on Time is now set to 120 seconds.
So after 2 minutes the brakes goes on and when an Item appear, the robot cannot react in time, the accuracy become very low and the pick is missed.
So try to set the Brake on time to an higher vaule (3600 for example).
Oscar