YASKAWA DX200 Instructions Manual page 77

HW1481731
3 Operation Procedure
3.4 Teach of Force Sense Basic Command
For the Impulse detection, set the Recommended value (+ Side) of
Impulse as the argument. This value is the maximum Impulse value in
consideration of the tolerance during the normal operation. Therefore,
since the force over this Recommended value is applied in the error
state, it is considered to be detected. The Recommended values of
Fmax, Fmin, and Impulse have both + and - sides respectively. The
value to be used as the threshold depends on the operation. So
beforehand, it needs to monitor the applied force during the operation
to judge it.
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