Hi Gilles,
You can go to menu, next, system, the type and config. There you can set I/O power fail recovery to : Recover all.
You can also make a "reset I/O'' job that you execute at the start of your program. In the RESETIO you can set all the DO and registers to value's you want to have at startup.
I have never checked it, im guessing my I/O status is replaced as it was. Maybe its a variable. Im doubting a little bit with the cold start. You can make a program with the I/O you want to set when you cold start the robot. In the config file put it in the Cold start autoexec program.
You have Hot start valid on True right?
Another option is to create a program that turns that output on and then in the system config menu select it to run in auto exec at both hot and cold start.
Create a background logic, to continuously copy the DO status to R register.
In the first scan only, copy the register value to the DO.
TRBe... Hot Start was set to False. It works better now 
Thank you and thanks for the other solutions as well, they might become handy on a future job.
