I'm having an issue with my UR5e robot where after starting up a program the controller screen freezes and needs to be restarted to have any access to control the robot. The cobot will continue to run without issue unless it crashes or the e-stop is pressed. If one of those conditions occurs the robot will stop but we have no way to restart it without rebooting the controller. We have 2 main programs that we run and the issue only seems to occur on the longer more complicated one so I'm assuming its something in the program causing it to freeze. Within that program we have a number of variables being tracked and we are using the robotiq force copilot UR-cap as well. Has anyone else run into an issue like this and have any suggestions on how to troubleshoot it? We see it occur about 2/3 of the time when running that program right now.