Planning of safety-oriented monitoring of multi-axis motion systems with multiple motion segments

Abstract

The invention relates to a method for planning a safety-oriented monitoring of a multi-axis movement system having a plurality of movable sections, having the steps of assigning a plurality of respective section movement system regions to one or more sections of the multi-axis movement system, wherein the respective section movement system regions are formed depending on the respective sections by section envelopes; providing respective movements of the respective sections in Cartesian space; detecting, from the provided movements, a space element to be passed through by each section; deriving, on the basis of the detected space element to be passed through, a respective total envelope of each section as a respective section working area; and providing the respective section working areas for a safety function for planning the safety-oriented monitoring. The invention also relates to a related setting component and a safety-oriented controller for a safe operation of a multi-axis movement system having a safety function block planned according to the method.

Description

Technical Field

[0001] This invention relates to a method for monitoring the safety guidance of a multi-axis motion system with multiple movable sections, as well as a controller for setting components and safety guidance. Background Technology

[0002] Modern, flexible workspace monitoring allows for safe and flexible automation of production and processing processes without protective fences. To this end, the workspace should be specified as precisely as possible to accommodate the motion system and environment used. The workspace is monitored so that the components of the motion system are kept within it. Modeling the workspace for safety monitoring is typically the user's responsibility; the user must manually define the work area for motion monitoring. The high complexity of this task often leads to drastically simplified modeling, resulting in a large, comprehensive work area for the entire motion system in all possible locations, with unnecessary and costly use of area and volume. Currently, this unnecessarily large work area has been supplemented by numerous protected areas that define areas within the work area where the motion system is not permitted to enter. Summary of the Invention

[0003] In this context, one object of the present invention is to provide simplified workspace monitoring.

[0004] This invention relates to a method for monitoring safety guidance of a multi-axis motion system having multiple movable segments. The method includes: assigning multiple corresponding segment motion system areas to one or more segments of the multi-axis motion system, wherein the corresponding segment motion system areas are formed by segment envelopes depending on the corresponding segments; providing corresponding motions of the corresponding segments in Cartesian space; detecting spatial elements to be traversed by each segment based on the provided corresponding motions; deriving a corresponding total envelope of each segment as the corresponding segment work area based on the detected spatial elements to be traversed; and providing the corresponding segment work areas for planning safety functions of the safety guidance monitoring.

[0005] When planning safety-oriented monitoring, establish monitoring for multi-axis motion systems and prepare for their safe operation. Multi-axis motion systems have multiple motion segments. For example, they may provide multiple axes, each driving one segment. For instance, a multi-axis motion system is an articulated robot with multiple links and end effectors where tools are mounted. For example, multi-axis motion systems are used for repositioning goods, processing workpieces, or assembling components.

[0006] The work area is provided for planning safety functions. Safety-oriented monitoring is based on calculations to check whether components of the multi-axis motion system have left the work area. In the proposed solution, it is checked whether the corresponding segment has left its corresponding assigned segment work area. Therefore, it is advantageous to check each segment individually during the inspection and check whether each segment has left its corresponding assigned segment work area. Therefore, a general work area is not defined, but in order to monitor each individual segment, it is checked whether the corresponding individual segment has left its corresponding assigned work area. Therefore, an assigned segment work area is determined for each segment.

[0007] Therefore, the corresponding work area of ​​each section defines the space of each section, and the associated movement area of ​​the section must be completely located in that space.

[0008] Here, the working area of ​​a segment is advantageously a geometric body that extends through all such spatial regions in Cartesian space, through which the corresponding segment should pass or travel during movement. It forms a total envelope over all the spatial elements to be traversed. These spatial elements are, for example, regions within Cartesian space in which multi-axis motion systems move, and the relevant segments at least partially enter these regions during the movement of the multi-axis motion systems. The sum of all the spatial elements traversed by each segment forms the basis for deriving the total envelope containing these spatial elements.

[0009] The segment working area can be a static area relating to its dimensions. Alternatively, it can take into account the current speed or overtravel distance of the moving system, and the dimensions of the segment working area can be planned to be variable. Similarly, regarding position and / or orientation, the segment working area can be determined, for example, in a spatially fixed coordinate system and not move with the moving system. Likewise, the attitude of the segment working area can be planned to change over time or be dynamically considered in safety collision monitoring.

[0010] Determining the spatial elements to be traversed in this way is equivalent to defining the segment envelope for a segment. For example, the segment envelope is selected shape-wise to match the set of segments, such as a cuboid, cylinder, or sphere. The segment envelope completely encloses the corresponding segment. For example, a shaft with hinges forms the basis of the segment envelope. Compared to the segments themselves, the segment envelope expands particularly in all spatial directions and therefore also contains some uncertainty in the expansion of the motion system due to measurement inaccuracies or delays.

[0011] The segmental envelope forms a segmental motion system region for each segment, which moves in space according to the expected motion of the multi-axis motion system. Here, the corresponding segmental motion system regions traverse different spatial elements. Therefore, the position and orientation of the segmental motion system regions are dynamic, specifically dependent on the dynamics of the segments. For example, when presetting the target trajectory of the end effector of the multi-axis motion system, the motion of each segment in space is calculated using inverse transformation. The size of the segmental motion system region is designed to be variable, for example, taking into account the current velocity or overtravel distance of the motion system. Therefore, the size of the segmental motion system region can depend on the segment size and other parameters, such as velocity or acceleration. In particular, these parameters enlarge the segmental motion system region, especially exceeding the required values ​​for the segment size to varying degrees.

[0012] Spatial elements divide space into multiple (advantageously designed identically) elements. They preferably divide the entire Cartesian space that may be driven around a multi-axis motion system. For example, spatial elements are predetermined. For example, spatial elements are voxels that completely fill the Cartesian space and do not overlap.

[0013] The proposed segmented workspace modeling is much more compact than the single region allowed by the entire motion system. This enables space savings. Furthermore, it advantageously avoids the constraint of explicit presuppositions on individual trajectories, thus allowing for more flexible motion of the system. Users can combine single or arbitrary numbers of trajectories to derive the generated segmented workspace.

[0014] Furthermore, it considers not only the tool center point (TCP) or the path of the end effector, but also the entire motion system, especially all movable sections, thus ensuring the safety of facilities with multi-axis motion systems at all times.

[0015] Here, the overall envelope is chosen such that it encompasses all spatial elements to be traversed while being as small as possible; that is, the smallest possible space is declared as the work area. Therefore, advantageously, only a relatively small work area needs to be monitored for a segment. This safety monitoring is associated with a relatively small computational workload. The segment work area, specifically created for the movement of the corresponding segment, is designed for that movement. Therefore, fewer protected areas need to be set for the work area. The smaller the work area, the less likely it is to pre-define additional protected areas for a specific application scenario, or therefore fewer protected areas are required. This results in a considerably small computational workload.

[0016] For each additional protected area, it is routine to check each segment for encroachment on the protected area. Reducing the number of protected areas by one can save m checks for m segments. By utilizing the proposed method instead of one large work area for multiple segments and multiple protected areas for multiple segments, it is advantageous to provide a corresponding work area for each individual segment and to provide fewer protected areas for multiple segments in total, thus requiring fewer tests in total.

[0017] Because the algorithm used for collision checking has O(n 2 The complexity of this approach is reduced, thus advantageously avoiding the need for unnecessarily large numbers of protected areas (n) and the associated performance losses associated with monitoring and managing these protected areas. This results in a performance improvement because flexible workspace modeling typically requires fewer protected areas. Traditionally, additional protected areas must be checked equally across all segments, thus incurring a quadratic computational burden. However, since there is a clear association between a segment and its associated segment motion system area and its associated segment work area, this burden is linear for additional segment work areas.

[0018] Furthermore, checking whether something is outside the workspace results in less computational work than checking whether it overlaps with a protected area.

[0019] For example, multi-axis motion systems utilize planned safety-oriented monitoring for operation and check during operation whether a segment has left the corresponding segment-specific work area.

[0020] [c2] According to one design scheme, the corresponding motion of the corresponding segments in Cartesian space is provided by one or more trajectories representing the rated motion of the multi-axis motion system or the actual motion of the multi-axis motion system during a real test drive under safe conditions. For example, the rated motion of the multi-axis motion system is given by means of the trajectory of the end effector, and the position of the articulation and the position of each segment during the motion are calculated by means of the inverse transformation. From the position or orientation of the segment, it is determined which spatial elements are crossed by the corresponding segment envelope. In addition, multiple trajectories of the end effector can be specified for multiple different motion processes, all of which should be considered when planning motion monitoring. Furthermore, the rated motion of the multi-axis motion system can also be given by means of the trajectory that directly describes the motion of each segment. This can be advantageous, for example, if the motion system must avoid obstacles that a person cannot clearly bypass by means of a given TCP path, or once the motion system is kinematically uncertain, i.e., there is no clear assignment of forward and inverse transformations, such as in the case of >6 DOF, such as 6 axes on a linear guide.

[0021] According to a design scheme, an optimization method is used to derive the corresponding total envelope based on the detected spatial elements to be traversed. Here, the optimization method, for example, uses an optimization algorithm that minimizes the total volume of the total envelope. Therefore, a segmented and optimized model of the required workspace is provided to the user, which best utilizes and covers the space. Through this optimization, space is saved when providing a working environment for a multi-axis motion system, and motion monitoring is optimized according to the required computing power or performance. Space savings are particularly useful when planning multiple adjacent or interoperable motion systems, for example, by explicitly arranging two motion systems.

[0022] The overall envelope is specifically designed as a convex and minimal geometry. In particular, a fixed preset geometry is used for the overall envelope, the dimensions of which are optimized based on the spatial elements it passes through.

[0023] According to a design scheme, spatial elements to be traversed are detected using a spatial hashing method. Therefore, for each provided segment motion system region, the 3D space traversed by it is detected. In the spatial hashing method, the finer the Cartesian space is subdivided using so-called grid cells—that is, the smaller the selected spatial elements—the more accurately the working area matches the actual planned motion of the segment, or its segment motion system region. Through a collision calculation algorithm between the segment motion region and the grid cells, the proposed method can effectively detect the grid cells traversed in 3D space, even with large amounts of data.

[0024] According to a design scheme, spatial elements to be traversed are detected using a topology map, point cloud, or voxel map. Therefore, the area to be considered for workspace monitoring is derived and, for example, additionally stored. Here, for example, a collision calculation method between a segmented motion system area and spatial elements is used. The topology map, point cloud, or voxel map can also be advantageously displayed, for example, during setup or testing and via screen visualization.

[0025] According to one design scheme, the segmental envelope is formed by preset geometric objects, specifically spheres, cuboids, or capsules. For example, the segmental envelope is formed based on the geometry of the segment and is selected from a series of preset geometric shapes. For instance, a user inputs data for a multi-axis motion system with segment dimensions, and the program automatically generates the segmental envelope based on the dimensions and the selected geometric objects. Therefore, segmental motion system zones can be easily and automatically created to match specific multi-axis motion systems.

[0026] According to a design scheme, based on the detected spatial elements to be traversed in multiple different segments or their segment motion system areas, a common overall envelope is derived as a common segment work area for multiple different segments. For example, segments can be advantageously combined when a common segment work area is thus generated that largely corresponds in size to two separate segments, or when areas potentially excluded from the common segment work area are not used separately in the production unit. In particular, combining segments is meaningful for calculating the common work area near the bottom or foot of the multi-axis motion system. Each of the combined segments is then checked to see if it leaves the common work area.

[0027] According to a design scheme, corresponding segmented work areas are derived for a defined time period or a defined motion segment of the multi-axis motion system's motion process. Therefore, segmented work areas can be derived in a time-varying manner. For example, in the case of staggered observations over time, a sphere, which is derived as a segmented work area, serves as the first work area for workspace monitoring during the time period t0 to t1, and a cuboid, which is derived as a segmented work area, is activated as the second work area during the subsequent time period t1 to t2. Here, at each time point or within each time period, each segmented motion system area is associated with one segmented work area. Therefore, it is advantageous to consider user scenarios where the motion system performs very different movements and uses different work areas in a time sequence, so as to free up different spaces within the production or processing unit or to use them for other purposes, such as for transport areas or for user access.

[0028] According to a design scheme, braking distances or overtravel distances are assigned to one or more tracks, and / or the spatial elements to be traversed by each zone are detected, taking into account the braking distances or overtravel distances. Here, for example, the braking or overtravel distance is considered such that the segment motion system area is expanded, so that the segment does not leave the working area even during the braking process and the associated delays. The braking distances or overtravel distances are derived, for example, through physical simulation or by using error calculation methods. The segment working area is then derived accordingly, taking into account the expanded segment motion system area.

[0029] According to a design scheme, safety functions activate the segment work areas provided for the planning. For example, the segment work areas are determined during the setup phase and then activated during the testing phase and subsequent operation phases of the multi-axis motion system. Here, for example, once the motion process begins, or once the motion system is in operating mode, or once a power supply to the multi-axis motion system is available, the safety functions simultaneously activate the segment work areas of each segment.

[0030] According to one design scheme, safety functions activate the corresponding segment work areas provided for planning for each time period or each movement segment. For example, different segment work areas for motion monitoring are thus activated for all or selected segments in time. The corresponding segment work areas are activated by safety functions in a time-controlled manner, wherein the activation is triggered using the time base of the motion controller, or by position or other information sensor values ​​provided by the safety motion controller or safety sensors.

[0031] According to a design scheme, additional protected areas are pre-defined for safety-oriented monitoring, restricting the work area of ​​specific sections. Here, for example, a Cartesian space protected area is pre-defined, which also applies to all work areas. For example, a protected area defines a space where the movement system is not allowed to pass through. For example, the protected area may be permanently activated or activated during a specific time period or for a specific movement section. Protected areas are formed, for example, by handover areas where the movement system should not enter, because collisions with human users cannot be ruled out there. For example, protected areas are also pre-defined by areas in the work environment where switch cabinets or similar facilities are located.

[0032] The present invention also relates to a setting component for monitoring safety guidance of a multi-axis motion system, comprising: an input and operation device for assigning multiple corresponding segment motion system areas to one or more segments of the multi-axis motion system, wherein corresponding segment motion system areas are formed by segment envelopes according to the corresponding segments, and for providing the corresponding motion of the corresponding segments in Cartesian space; a calculation unit for detecting spatial elements to be traversed by each segment based on the provided motion, and for deriving the corresponding total envelope of each segment as the corresponding segment working area based on the detected spatial elements to be traversed; and an output device for providing the corresponding segment working area for the safety function of monitoring safety guidance.

[0033] Therefore, the setup component provides users with a comprehensive tool that allows for the simple and customized setup of safety-guided motion control for specific multi-axis motion systems and their movement in space. This setup is preferably performed during the commissioning, setup, or testing phase of the safety-guided monitoring safety functions, or during the commissioning, setup, or testing phase of the overall safety-related motion controller.

[0034] For example, a setting component is designed as part of a safety component, on which a safety function block is implemented. For example, the functionality of the setting component extends the functionality of the safety function block.

[0035] Input and operation devices, output devices, and computing units can be implemented and carried out in software, hardware, or a combination of software and hardware. Therefore, the steps implemented by the setting components and, in particular, the computing units, can be stored as program code on a storage medium, especially a hard disk, CR-ROM, or memory module, wherein the individual instructions of the program code are read and processed by at least one computing unit (including a processor).

[0036] According to one design, the output device also includes a visualization unit for displaying the segmented working area. For example, it also displays the voxels or spatial elements that have passed through, and in particular, provides the segmented motion area of ​​the trajectory or segment.

[0037] The present invention also relates to a safety-guided controller for the safe operation of a multi-axis motion system having safety function blocks, wherein the safety function blocks are planned according to one of the methods described above. For example, the safety function blocks are planned during the commissioning, setup, or testing phases so that the aforementioned segmented work areas can be used in subsequent operation. Attached Figure Description

[0038] The invention will now be explained in more detail with reference to the accompanying drawings and embodiments. The drawings show:

[0039] Figure 1 A schematic diagram of a multi-axis motion system is shown to illustrate the segmented motion system region according to a first embodiment of the present invention;

[0040] Figure 2 A schematic diagram of a multi-axis motion system is shown to illustrate the segmented working area according to the first embodiment;

[0041] Figure 3 A schematic diagram illustrating a voxel diagram according to a second embodiment of the present invention is shown.

[0042] In the accompanying drawings, unless otherwise specified, elements having the same function are given the same reference numerals. Detailed Implementation

[0043] exist Figure 1 The image shows a SCARA motion system 100 as a multi-axis motion system, used in a variety of industrial applications for assembling components, handling parts, or machining workpieces. For example, it is a SCARA motion system 100 that has a lifting axis on a flange, with a geometry as shown... Figure 1 As shown. The dimensions are L1 = 500 for the first section L1, L2 = 2000 for the second section L2, L3 = 1000 for the third section L3, and LF = 200 for the flange section. According to the first embodiment, the motion system 100 should be used to pick up a glass plate at a transfer point and transport it to another transfer point by means of a suction cup at the flange.

[0044] The user models the SCARA motion system 100 in its motion program and its safety program. According to the first embodiment, this modeling is supplemented with components for planning the monitoring of motion for safety guidance. Here, the associated motion zones 1, 2, and F are also modeled to include all zones relevant to the application scenario. In this example, these are zone L1, zone L2, flange zone LF, and the associated glass plate (not shown) as the workpiece. In this implementation, the user assumes that zone L3 does not require any additional monitoring because it is sandwiched between zone L2 and flange zone LF, and the preset tool center point TCP is used as the point describing size, position / direction, i.e., the origin of the tool coordinate system, and cannot move freely. For example, the zone values ​​can be directly retrieved from the CAD program.

[0045] The segment movement regions 1, 2, and F are, for example, based on a cuboid as the geometric basis and automatically formed according to the specifications regarding the segment dimensions. Here, the segment movement regions are expanded to account for measurement errors and delay times to prevent, even in the worst case, parts of the segments from being located outside the still-to-be-determined working area or within a similarly still-to-be-determined protected area.

[0046] In addition, the user has pre-defined protected areas SZ1 and SZ2, which are formed by two conveyor points for picking up and placing the glass plates. The motion system 100 must not enter these protected areas SZ1 and SZ2, meaning that the stopping process must be initiated promptly when considering the segmented motion system area.

[0047] The user predefines one or more motions of the motion system 100 derived from his motion planning. Here, the user has determined a suitable motion process M along a spatial straight line. The workpiece, i.e., the glass plate, should be aerodynamically aligned parallel to the TCP motion, therefore fluctuations in the zone dimensions must be considered. The user designates spheres and cuboids as the permissible envelopes of the zone motion regions.

[0048] The entire space of the working cell containing the SCARA motion system 100 is discretized and divided into small voxels according to the size and time resolution of the motion system. Here, a spatial mesh is generated using a spatial hashing method.

[0049] Then, voxel maps are created for each relevant segment motion region 1, 2, F, which respectively describe the space recorded for each segment motion region during the motion process. A voxel map for segment motion system region 1 is created accordingly, since the dynamics of the first segment L1 are restricted to rotation about its own axis, which fails based on voxels already covered in the idle mode. On the other hand, the voxel map for the second segment L2 depends on the workpiece's motion plan, which is generated by the inverse transformation of the workpiece's preset motion process M for the second segment. The swept voxels extend, for example, in the plane of the second segment L2 in the Cartesian coordinate system KCS until the deflection of the outer hinge of the second segment L2 is necessary.

[0050] The voxel diagram for the flange section is more complex, depending on both the lifting motion of the flange section LF and the rotational motion at the flange joint to achieve the aerodynamic orientation of the glass plate and its subsequent straight-line motion along the predetermined motion process M. The voxel diagram also takes into account the dimensions of the glass plate itself.

[0051] The subsequent optimization steps determine the corresponding envelope of each segment's motion area, which completely encloses the space covered by the voxels, but is as compact as possible. Therefore, optimization algorithms are executed separately to calculate the first envelope of the first segment L1, the second envelope of the second segment L2, and the third envelope of the flange segment LF. The corresponding envelopes then form the segment work area for each segment, i.e., the area where, individually, no segment or part of a segment is allowed to protrude. This results in a workspace segmented by each work area.

[0052] As a sub-step of optimization, it is also possible to further divide the work areas and activate them at different times to achieve better runtime performance, or merge them when necessary. For example, by using a preset number of the largest area as an input variable, it is possible to determine how many objects are needed to achieve the optimal design. If the user presets a fixed number of areas, the appearance of the work areas can also be checked.

[0053] Section work area such as Figure 2 As shown, the relevant voxels of the two segmental motion zones 1 and 2 are combined to determine the common static base working area 10. The static workpiece working area 20 is determined based on the segmental motion system zone F and the voxels through which the glass plate passes.

[0054] The envelope is displayed to the user and used as the corresponding segment work areas 10, 20 of the assigned segment movement areas 1, 2, F. For example, they are automatically planned in the safety procedure to enable space-saving and performance-oriented monitoring.

[0055] Compared to manually planning the workspace, significant space savings can be achieved, amounting to approximately 30% in this example. For instance, in complex workspaces, such as those with a particularly high number of degrees of freedom in multi-axis motion systems, substantial savings and therefore significant performance improvements are advantageous.

[0056] To avoid time-consuming manual modeling of each complex workspace, a traditional workspace must encompass the entire space accessible to the motion system. For example, in this embodiment, this means that TCP motion will still occur within the workspace even with the arm extended, thus primarily in the outermost area where space is unnecessarily occupied as workspace, inaccessible to the motion system.

[0057] The proposed solution enables a more compact workspace without introducing more protected areas and therefore without compromising performance. This improvement is exemplified by the segmented modeling and automatic calculation of the workspace, and the segmented workspace corresponding to each dynamic region.

[0058] Figure 3 This illustrates how spatial elements V1, V2, V3, etc., traversed by a single segmental motion zone collectively derive the movement of the segment assigned to that motion zone. According to a second embodiment of the invention, this segment is, for example, a segment of an articulated arm robot capable of rotation about multiple axes. Spatial elements V1, V2, V3, etc., can be graphically represented, for example, and stored together with their respective grid coordinates assigned to them in a Cartesian coordinate system (KCS).

[0059] For example, an optimization algorithm can be used to determine the total envelope of the derived spatial elements V1, V2, V3, etc. This algorithm determines a convex envelope in Cartesian space such that all spatial elements V1, V2, V3, etc., are included while simultaneously minimizing the volume. Any other specifications can be considered during optimization, such as which geometric bases will be used for the total envelope.

[0060] For each segment and its motion system area that needs to be monitored in the application scenario, the associated intersecting spatial elements are derived, such as... Figure 3 As shown. Based on the number of each obtained spatial element, a separate optimization algorithm is used to determine the corresponding total envelope and thus the corresponding segment working area.

[0061] Although the invention has been described and illustrated in more detail by way of embodiments, the invention is not limited to the disclosed embodiments, and those skilled in the art can derive other variations and combinations therefrom without departing from the scope of protection of the invention.

Claims

1. A method for monitoring the safety guidance of a multi-axis motion system (100), the multi-axis motion system having multiple motion segments (L1, L2, LF), the method comprising the following steps: - assigning a plurality of respective segment motion system zones (1, 2, F) to one or more segments (L1, L2, LF) of the multi-axis motion system (100), respectively, wherein, The segmental envelope forms the corresponding segmental motion system region (1, 2, F) according to the corresponding segments (L1, L2, LF). - Provides the corresponding motion for the corresponding segment in Cartesian space. - Detect the spatial elements (V1, V2, V3) to be traversed in each segment based on the corresponding motion provided. - Based on the detected spatial elements (V1, V2, V3) to be traversed, the corresponding total envelope of each segment is obtained as the corresponding segment working area (10, 20). - Provide corresponding work areas (10, 20) for the planning of security functions of security-oriented monitoring.

2. The method of claim 1, wherein, The corresponding motion of the corresponding segment in Cartesian space is provided by means of one or more trajectories, which represent the rated motion (M) of the multi-axis motion system (100) or the actual motion of the multi-axis motion system during a real test drive under safe conditions.

3. The method of claim 1 or 2, wherein, The corresponding total envelope is derived by means of an optimization method based on the detected spatial elements (V1, V2, V3) to be traversed.

4. The method of claim 1 or 2, wherein, The spatial elements (V1, V2, V3) to be traversed are detected using a spatial hashing method.

5. The method of claim 1 or 2, wherein, The spatial elements (V1, V2, V3) to be traversed are detected using a topological graph, a point cloud, or a voxel graph.

6. The method of claim 5, wherein, The segment envelope is formed by a preset geometric object.

7. The method of claim 6, wherein, The segmental envelope is formed by spheres, cuboids, or capsules.

8. The method of claim 1 or 2, wherein, Based on the detected spatial elements (V1, V2, V3) of multiple different segments (L1, L2, LF), a common total envelope is derived as the common segment working area of ​​multiple different segments.

9. The method of claim 1 or 2, wherein, The corresponding working area (10, 20) is derived from a defined time period or a defined motion segment of the motion process of the multi-axis motion system (100).

10. The method of claim 2, wherein, Assign braking distance or overtravel distance to one or more tracks, and / or detect the spatial elements (V1, V2, V3) to be traversed in each segment (L1, L2, LF) with additional consideration of the braking distance or overtravel distance.

11. The method of claim 1 or 2, wherein, The corresponding work area (10, 20) provided for planning is activated by the safety function.

12. The method according to claim 9, wherein, The safety function activates the corresponding work area (10, 20) provided by the plan for each time period or each movement segment.

13. The method according to claim 1 or 2, wherein, Additional protected areas (SZ1, SZ2) are pre-defined for safety-oriented monitoring planning, which restrict one or more of the said segment work areas (10, 20).

14. A monitoring device for planning the safety guidance of a multi-axis motion system (100), the monitoring device comprising: - Input and operation devices for assigning multiple corresponding segmental motion system zones (1, 2, F) to one or more segments (L1, L2, LF) of the multi-axis motion system (100), wherein, The segmental envelope forms corresponding segmental motion system regions (1, 2, F) according to the corresponding segments (L1, L2, LF), and the input and operation device is used to provide the corresponding motion of the corresponding segments (L1, L2, LF) in Cartesian space; - A calculation unit for detecting the spatial elements (V1, V2, V3) to be traversed by each segment based on the corresponding motion provided, and the calculation unit for deriving the corresponding total envelope of each segment as the corresponding segment working area (10, 20) based on the detected spatial elements (V1, V2, V3). as well as - Output device for providing the corresponding work area (10, 20) for the security functions of the planned security-oriented monitoring.

15. The mounting component according to claim 14, wherein, The output device includes a visualization unit for displaying the section work area (10, 20).

16. A safety-guided controller for the safe operation of a multi-axis motion system (100), the controller having a safety function block, wherein, The security function block is planned according to any one of claims 1 to 13.

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