CPC G05B 19/406 (2013.01) [G05B 19/4155 (2013.01); G05B 2219/39051 (2013.01)] | 16 Claims |
1. A method for safely operating a multi-axis kinematic system by using a safety function, the safety function being based on respective positions of respective axes of the multi-axis kinematic system, the method comprising:
calculating compensation values at a run time of a controller of the multi-axis kinematic system, wherein the calculating is performed based on an error value for each axis of the respective axes of the multi-axis kinematic system, geometric parameters of the multi-axis kinematic system, and current axis values of the multi-axis kinematic system, wherein a sensor resolution is used as a respective error value for each axis of the respective axes, and wherein each error value represents a maximum sensor error possible for a respective axis sensor; and
operating the safety function based on the calculated compensation values.
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