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Information about CD autorun is stored in the registry at "HKEY_LOCAL_MACHINE\System\CurrentControlSet\Services\Class\CDROM\AutoRun" path. If this parameter is 0, then autorun is disabled, if this parameter is 1, then autorun is enabled. Don't forget to add Registry in the uses chapter.

uses
  Registry;
...
procedure TForm1.Button1Click(Sender: TObject);
var
  i: Boolean;
begin
  i:=False;
  with TRegistry.Create do
  begin
    RootKey:=HKEY_LOCAL_MACHINE;
    if KeyExists('System\CurrentControlSet\Services\Class\CDROM')and
       OpenKey(
         'System\CurrentControlSet\Services\Class\CDROM', 
         False) then
      WriteBinaryData('AutoRun', i, 1);
  end;
end;