I would like to know more about the BCO Run and the Interrupt execution in KUKA.
I have a condition for Interrupt execution to stop the BCO Run Process and ensured that the variable is not ON when the interrupt is turned ON. This was validated.
In between process, there was a necessity of BCO Run. Theorotically the interrupt should be activated during the BCO Run to Brake the process.
However the interrupt was triggered after the BCO Run.
The BOOL Variable $MOVE_BCO is OFF during the BCO Run.
Can someone support me to stop the robot at the BCO Run in Automatic mode. This is kind of an internal safety so that even when PLC permits, the robot should not be moved.