Invalid Inputs 225 Saving the Configuration File 226 V+ Upgrade 228 V+ License Configuration 230 Robot and Motor Configuration 233 Collecting Data 234 Adding and Removing Monitored Items 237 Data Collection Parameters 239 Configuring Axes, Options, and Kinematic Parameters 243 Enabled Axes 244 Robot Options 244 Kinematics 245 Configuring S-Curve Profiles 246 Editing Obstacles 249 Applying or Saving Your Changes 250 Loading and Saving Robot/Motor Specification Files 251 Loading a Robot/Motor Specification File 251 Saving a Robot/Motor Specification File 253 Safety Settings 254 Tuning the Motors 256 Adding and Removing Monitored Items 259 Using a Tool Offset 261 Teaching a Tool Offset 261 Cobra i600/i800 Robot Configuration 265 Configuration Overview 266 Working with Configuration Files 268 Configuration Manager 269 Menu Items 270 Toolbar Items 271 Editor Parameters 271 Tabs 271 Buttons 272 Controller View 273 System Information 273 Inputs/Outputs 274 Password-Protect Configuration Data 275 Change Access Level 275 Robot Configuration Pages 276 ACE User's Guide, 3.6.x 18316-000 Rev A Page 8