Refer to the manual XXX_inst-e.pdf for your robot model, Ch. 2.4. For example, for an HS-E model, see HSE_inst-e.pdf.
You can also find the following pages on our online manual:
VM Series
https://www.fa-manuals.denso-wave.com/en/usermanuals/000975/
VS Series
https://www.fa-manuals.denso-wave.com/en/usermanuals/000056/
VS-6556/6577 Series
https://www.fa-manuals.denso-wave.com/en/usermanuals/005449/
VP Series
https://www.fa-manuals.denso-wave.com/en/usermanuals/000952/
HM Series
https://www.fa-manuals.denso-wave.com/en/usermanuals/004650/
HSR Series
https://www.fa-manuals.denso-wave.com/en/usermanuals/002457/
HS Series
https://www.fa-manuals.denso-wave.com/en/usermanuals/004783/
HSA1 Series
https://www.fa-manuals.denso-wave.com/en/usermanuals/002940/
XR Series
https://www.fa-manuals.denso-wave.com/en/usermanuals/004856/