ABB IRB 6400R Product On-Line Manual page 288

External Axes
For installing and change of parameter data, see the User's Guide, section System Parame-
ters, Topic: Manipulator.
In order to have the possibility to read and change most of the parameters from the teach
pendent unit, the system must be booted in service mode.
118
Installation and Commissioning
Product Manual IRB 6400R