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)
  endWhile
end]]>