Cisco Set-top Box Often Won't Display on TV

I have a Cisco 9865HDC set top box running through a Denon receiver into a Zinio TV with ARC/HDMI-CEC. Much of the time, when I turn on the TV, the receiver turns on, switches its input to Cable and then--Nothing. I have to power cycle the set top box (particularly troubling when the record light is lit) then wait for the lengthy boot process and get congratulated for saving one minute of energy before I get video on the TV.

Switching the receiver input or recycling the  receiver does nothing. Neither does power recycling the TV.

Are any of you experiencing this problem? Has anybody found a solution?