| 摘要 |
<p>A method checks a robot having a robot controller having a predeterminable safety range, wherein the robot can interrupt the travelling of the robot tool center point (TCP) into the safety range if the robot tool center point (TCP) travels into the safety range during execution of a movement program. The method involves: fixing a safety range which is surrounded by boundary surfaces spanned between respective boundary points, predetermining the safety range on the robot controller, if the safety range is not yet predetermined, fixing a test movement path which in principle lies outside the safety range having a plurality of path points, wherein at least one path point is located in the immediate vicinity of one of the boundary surfaces, executing a test movement program by moving the TCP along the test movement path, checking whether the execution of the test movement program is interrupted.</p> |
