Version 1.18.04 and newer firmware has a modification of the HSINT and INT commands that adds a new master parameter "INT Response Period".
The INT Response Period parameter is used to prevent the jerk seen by some users when transitioning to the incremental move.
This parameter is the delay in servo interrupt periods before the incremental move (incmove) is started. The default value is 5.
If the interrupt contact velocity cannot be guaranteed, this master parameter should to be set to a value of -1 to disable this feature.