KUKA KR C4 KRL: Fast Stop Interrupt Declaring BRAKE F in Subroutine
Posted by Karthik Rao
In a palletizing application with a KUKA KR 120 R2700-2, we need an optical sensor on `$IN[12]` to trigger an immediate safe stop while retaining trajectory recovery. In the global interrupt routine, does `BRAKE F` require a `RESUME` statement to jump back to the main loop, or should `HALT` be called first?