diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/detect.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/detect.pgx
index 01c30c7..32bafce 100644
--- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/detect.pgx
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/detect.pgx
@@ -44,29 +44,31 @@
     // Compare with the trained values        
     for l_nIndex=0 to 5
       x_nThreshold = abs(nJntMaxForce[l_nIndex])+abs(x_nTolPercent*nJntMaxForce[l_nIndex]/100)
-      l_nPerc = abs(nJntForce[l_nIndex]/nJntMaxForce[l_nIndex] *100)
-      if l_nPerc>nJntMaxMeasured[l_nIndex]
-        nJntMaxMeasured[l_nIndex]=l_nPerc
-      endIf      
-      l_bCondition=abs(nJntForce[l_nIndex]) > x_nThreshold
-      
-      gotoxy(0,8+l_nIndex)
-      put(toString(".2",nJntMaxForce[l_nIndex]))
-      gotoxy(8,8+l_nIndex)
-      put(toString(".2",x_nThreshold))  
-      gotoxy(16,8+l_nIndex)      
-      put(toString(".2",abs(nJntForce[l_nIndex])))
-      gotoxy(24,8+l_nIndex)      
-      put(toString(".2",l_nPerc))
-      gotoxy(32,8+l_nIndex)      
-      put(toString(".2",nJntMaxMeasured[l_nIndex]))
-            
-      if l_bCondition
-        stopMove()
-        resetMotion()
-        bContact=true
-        l_sDisplay="Contact: force on joint "+toString("",l_nIndex+1)+" = "+toString("",abs(nJntForce[l_nIndex]))
-        logMsg(l_sDisplay)
+      if nJntMaxForce[l_nIndex]>0
+          l_nPerc = abs(nJntForce[l_nIndex]/nJntMaxForce[l_nIndex] *100)
+          if l_nPerc>nJntMaxMeasured[l_nIndex]
+            nJntMaxMeasured[l_nIndex]=l_nPerc
+          endIf      
+          l_bCondition=abs(nJntForce[l_nIndex]) > x_nThreshold
+          
+          gotoxy(0,8+l_nIndex)
+          put(toString(".2",nJntMaxForce[l_nIndex]))
+          gotoxy(8,8+l_nIndex)
+          put(toString(".2",x_nThreshold))  
+          gotoxy(16,8+l_nIndex)      
+          put(toString(".2",abs(nJntForce[l_nIndex])))
+          gotoxy(24,8+l_nIndex)      
+          put(toString(".2",l_nPerc))
+          gotoxy(32,8+l_nIndex)      
+          put(toString(".2",nJntMaxMeasured[l_nIndex]))
+                
+        if l_bCondition
+          stopMove()
+          resetMotion()
+          bContact=true
+          l_sDisplay="Contact: force on joint "+toString("",l_nIndex+1)+" = "+toString("",abs(nJntForce[l_nIndex]))
+          logMsg(l_sDisplay)
+        endIf
       endIf
     endFor
     delay(0)