Stripes, that is listed in the troubleshooting section (third entry under the "Power" section, at least in the online manual). It says to do exactly what you are doing (unplugging it), but it doesn't give advice on how to keep it from happening.
It could be that a controller chip is getting too hot and locking up. Try blowing a fan over it and see if the problem goes away. That unit does have a thermal protection circuit that would cause the unit to shut down if it overheats, but I would guess that the temperature sensors that control it are near the amps and not the processors. So, if I'm correct, a processor could overheat without causing the unit to shut down.
If no one here can help out, I suggest that you contact Pioneer. They might give you some good info on how to troubleshoot your issue.