| 摘要 |
The invention relates to a method for safety monitoring of a joint (12) of a serial kinematic system (30) that performs tasks within a working area (100) under the control of a control system (20), wherein during operation a current status variable of the joint (12), such as the absolute position (AP) or derivatives of the absolute position (AP) according to time, is determined cyclically from the current axle position (P) of the joint (12) and compared to a configurable limit value (SA, TA, SL), wherein a functional module (3, 4, 5) is used for monitoring the status variable. Each status variable to be monitored is assigned a functional module (3, 4, 5). Said functional modules (3, 4, 5) are implemented independently of the control system (20) of the serial kinematic system (30), as a result of which the safety monitoring system (10) can be operated in parallel with and independently of the control system (20) of the serial kinematic system (30). |
