Interrupt Example

Great job...

Looking in the manual for KSS8.7 now you can optionally declare interrupt with BRAKE command already instead of in the interrupt program. But now i see it was also available from KSS8.5 also .

<GLOBAL> INTERRUPT <WITH BRAKE <F|FF>> DECL Prio WHEN
Event DO Subprogram

From the KSS8.7 manual:

Using BRAKE in the interrupt declaration has the advantage that the braking

reaction is initiated without a delay as soon as the interrupt is detected.

The system does not wait until the interrupt program has been started

and the line with the BRAKE statement has been processed before initiating

the braking reaction. This means that the braking reaction is not dependent

on the interpreter.

And explanation for different BRAKE options:

the FF existed before but i don't think it was mentioned much.

Yes FF is quite old. Already existed in late KSS5.x if I remember correctly.

Quote from SkyeFire

And I hadn't been aware of the FF option before, either.

You never asked ...

brake ff has existed for a good while. But i wouldn't recommend using it if speeds are anything but really really slow.