I was able to use the racadm command provided to enable CSIOR on an iDRAC7 (Poweredge R620)
racadm –r xxx.xxx.xxx.xxx –u root –p calvin set LifecycleController.LCAttributes.CollectSystemInventoryOnRestart Enabled
But, when I try to run it on an iDRAC6 (R710) I get the following error: "ERROR: Invalid subcommand specified."