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The HDMI ARC port on my Panasonic TV seems to have died so, after a conversation with Sonos tech help, I have to connect my Beam to the TV via the optical port using the supplied adaptor.

My problem is that whenever I turn on the TV it doesn't seem to remember to use the Beam (plus two Ones and a mini sub) but tries to use the TV's speakers. I have to resort to unplugging and reconnecting the optical adaptor to get it to connect and work.

Is there a way of setting up the TV and/or Beam in order to ensure that the system works when switching on the TV?

That would have to be a setting on your specific TV model, probably something under audio settings.  I would look at the model user guide or contact Panasonic to help with that.

The optical connection is a one way, the TV is sending data to the Beam.  There is no way for the Beam to send a request to send audio to it via the optical connection.