Here's one I've never tried before. I have a robot (KSS 8.3) using a contact sensor, wired to a Fast Measure input, to make contact with a work piece and stop the moment it makes contact (ideally, I'm not supposed to apply more than a dozen Newtons of force to the workpiece). But for cycle time reasons, I've had to make the first part of the motion quite fast.
The problem is, the acceleration at the start of the motion is enough to falsely trip the hyper-sensitive contact sensor.
So, I'm experimenting with reducing the acceleration at the start of the motion, but that has a negative impact on cycle time. So it occurred to me to wonder if it might be possible to place my INTERRUPT ON command into a TRIGGER on the start of motion, with a DELAY value sufficient to delay the Interrupt arming until after the acceleration ramp was complete. Going further afield, I might use a TRIGGER-called subroutine to monitor the contact sensor during the acceleration ramp and perform the INTERRUPT ON command after the sensor is no longer tripped.
The bottom line is, I just realized I've never tried turning interrupts off/on on-the-fly before. It seems like I ought to be able to perform INTERRUPT ON inside a TRIGGER, but I wonder if anyone else has ever tried this before.