A method for determining at least a threshold value for a as a function of the threshold value robot which can be operated

摘要

The present invention relates to a method for determining at least a threshold value for a which can be operated as a function of the threshold value and a plurality of relatively movable axes of the invention, in which the robot, comprising the steps of:– At least one of the axes move along a predetermined path of movement (step s2);– Detection of strain values, which characterize the loads on the axes during the movement of the at least one shaft (step s3); and– Determination of the largest absolute in the load values (step s5), wherein the determined load value than the threshold value is used (step s6).