Time Machine external USB drive not available at boot

I have a late 2012 iMac running Mavericks 10.4.9. I use Time Machine with a Toshiba 3TB external drive.  The Toshiba drive is usually left powered up.  Every time I boot the iMac and try to force a backup, Time Machine reports the Toshiba disk is not available.  When I open Time Machine preferences, the Toshiba drive does not show until I power-cycle it and re-select it.   Also occasionally it reports that I did not eject it properly.  But it NEVER shows in Devices or on my desk top (like a thumb-drive does for example) so I wouldn't know how to eject it anyway.
Any ideas on where I am going wrong?
Thanks!

I also have a MacBook Pro with Leopard. I have a new 500GB Lacie d2 safe external drive that my computer recognizes but Time machine does not. Formating the disk in journaled Mac OS Extended format does not solve the problem. Lacie says they are working on it. Anyone have any ideas?

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    See Pondini's TM FAQs.
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