The invention relates to a method for safety monitoring of a joint (12) a serial kinematics (30) within a workspace (100) under control of a controller (20) carries out tasks, wherein during operation of the current axis position (P) of the joint (12 ) a current state variable of the joint (12) as the absolute position (will AP) or their derivatives, cyclic determined according to the time and compared to a configurable limit value (SA, TA, SL), wherein a function module (3, 4, 5) is used for the monitoring of the state variable. Each monitoring at the state variable is assigned to a function block (3, 4, 5). These function blocks (3, 4, 5) are independent of the controller (20) of the serial kinematics (30) is carried out whereby the safety monitor (10) can be operated parallel and independently of the control (20) of the serial kinematics (30).
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