With SHELL I can run a program at robot startup.
I still have one problem. Even with %NOABORT program execution hangs on command MSG_CONNECT (in MENU -> Status -> Program, my program is still running).
I tried looping MSG_PING until connection would be possible and then continue with program execution. But after cca. 60 seconds of trying, program hangs.
For now I have a loop that waits DO to become TRUE. I set this DO to TRUE manualy wheh the robot controller is ready.