Press F2 for CONFIRM. The master code will be asked. Enter xxxx (code provided by your integrator). The actual payload will also be asked. Press F4 for YES to acknowledge. Finally, it will be asked if nobody is in contact with the robot. Make sure no one touches the robot and answer F4 for YES. A message saying that the payload is confirm will appear.
Press PREV key, then F2 APPLY. Enter xxxx (master code provided by your integrator) and press ENTER key. Restart the controller for the changes to be effective.
The status will then change to CHGD instead of SAFE.
(Any changes made by the customer to the DCS function will be at its own risks. To prevent unwanted changes to DCS set up, change master code at delivery.)