Mitsubishi MELFA CR1D Instruction Manual page 189

(12) The impact detection function may not work properly if the hand weight (HNDDATn parameter) and
workpiece weight (WRKDATn parameter) are not set correctly. Be sure to set these parameters correctly
before using.
(13) If the impact detection function is enabled by this instruction, the execution time (tact time) may become
long for some programs. Use the impact detection function only for operations that may interfere with
peripheral devices, rather than enabling it for the entire program.
(14) This function cannot be used together with the multi-mechanism control function.
[Related instructions and variables]
ColLvl (Col Level), M_ColSts, J_ColMxl, P_ColDir
[Related parameter]
COL, COLLVL, COLLVLJG, HNDDATn, WRKDATn
[Available robot type]
RV-6SD/6SDL/12SD/12SDL series
Detailed explanation of command words 4-176
4MELFA-BASIC IV