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To setup auto start a virtual machine, we have to enable auto-start on Xenserver then enable auto-start the VM.
# xe pool-list
uuid ( RO) : XXXXXXXX-XXXX-XXXX-XXXX-XXXXXXXXXXXX
# xe pool-param-set uuid=XXXXXXXX-XXXX-XXXX-XXXX-XXXXXXXXXXXX other-config:auto_poweron=true
# xe vm-list
uuid ( RO) : XXXXXXXX-XXXX-XXXX-XXXX-XXXXXXXXXXXX
name-label ( RW): Control domain on host: XenSever_host_name
power-state ( RO): running
uuid ( RO) : AAAAAAAA-AAAA-AAAA-AAAA-AAAAAAAAAAAA
name-label ( RW): VM_host_name_1
power-state ( RO): running
uuid ( RO) : BBBBBBBB-BBBB-BBBB-BBBB-BBBBBBBBBBBB
name-label ( RW): VM_host_name_2
power-state ( RO): running
# xe vm-param-set uuid=AAAAAAAA-AAAA-AAAA-AAAA-AAAAAAAAAAAA other-config:auto_poweron=true
Done!