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Mine's having the same problem right now. I'm trying to find the idle up adjustment for the A/C. Someone said it was under the dash behind the glove box I believe but I can't find that thread! <img src="/forums/images/graemlins/angry.gif" alt="" />
Found it!!

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Check the setting of the A/C Amplifier RPM knob. It may be set to cut the A/C off at too high an idle speed. AC Amp is behind the glove box, small black box with a knob labelled "RPM". I think it should be set to cut off just below the normal idle speed (to keep the engine from bogging down) and it works in conjunction with the idle-up valve that boosts the idle speed when the A/C is on.

'86 Toyo 4wd
'04 600RR