KUKA interrupt fires twice on the same skip — path jerks, then continues
The question
KR QUANTEC, KSS 8.6, interrupt on a skip condition from the PLC. First edge is correct. A second fire 40 ms later jerks the path. DECLARE is in the submit. I thought BRAKE in the interrupt would make it one-shot.
TS ControlsThe answer
Debounce the PLC bit and GLOBAL INTERRUPT DECL once. BRAKE stops the motion; it does not prevent a second trigger if the bit is still bouncing. INTERRUPT OFF in the handler, do the work, INTERRUPT ON when the condition is gone. Watch CYCLE_TIME vs the PLC scan — a 40 ms double is a classic unlatched skip.
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