IOS IPS will have a significant impact on the CPU. So it depends on the actual load of the router. If the router is only lightly loaded, then it should be no problem to activate the IOS IPS. If you have medium load you should be very selective with the enabled signatures. And if the router has a high load, then you should look for a bigger router before deploying IOS IPS or an external IPS-solution.
Now we only have to specify what is lightly, medium and high load. There the opinions are very different and probably there is no "right" answer.
For me, lightly loaded is up to about 25%, medium up to 50% and high everything above.
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