I think the "problem" could be that the robot thinks mowing is completed and is taking a rest in the base. Turn off "Auto Setup" and see if the issue disappears. If all is ok, he will always come out on time when Auto Setup is off. Then turn Auto Setup back on. What happens now? If he stays in with Auto Setup turned on, but the lawn is not completely mowed, then increase the amount of time he mows per day and see if it works better. Auto Setup functions best with large mowing windows.
Hope this helps!
RobotLady