If by "just once" you mean for one full season, the fourteenth:
http://thedoctorwhosite.co.uk/tardis/interior/season-14-interior/
As I understand it, it came about because two different unions at the BBC (I think it was props and special effects) kept insisting the console was the other guys' responsibility, and there was a lot of infighting over it. So in Baker's first season, they avoided showing any TARDIS interiors at all (which was weird for me, since it was the first season I saw), and in season 13, they introduced a brand-new console but used it maybe twice, before introducing the simpler "Victorian" console room, whose console had no moving parts. They must've finally gotten it worked out by season 15.