UR 5E Autoinit randomly works

Hi,
New to the UR world.
We have a UR and we want to automatically initialize upon powering up. We set up Autoinit on Input_register_0_31[2]. The UR is on Remote. Sometimes when it boots up will work just fine (it is kind of slow booting up) and then all of the sudden does not want to Autoinit.
Are there any signals required or any specific sequence to initiate this?
The signal right now is generated when we get the .NO signal from UR.
Regrads,
TB