Method and apparatus for monitoring an acceleration of an axis of a multi-axis kinematic system

A non-transitory computer-readable medium encoded with a computer program which, when executed by a program-controlled device, causes monitoring of an acceleration of a plurality A of axes of a multi-axis kinematic system utilizing at least one sampling process with a first sampling interval, the computer program comprising:

• a) program code for determining a first acceleration limit value assigned to a first sampling interval and a second acceleration limit value, differing therefrom, for the acceleration of an axis of the plurality A of axes, a second time interval being assigned to the second acceleration limit value;
• b) program code for ascertaining a plurality N of position values of each of the plurality A of axes by sampling with the first sampling interval;
• c) program code for calculating at least one current acceleration via the ascertained plurality N of position values;
• and
• d) program code for monitoring the calculated at least one current acceleration via a first instance of monitoring utilizing the first acceleration limit value and the assigned first sampling interval and, at the same time, via a second instance of monitoring utilizing the second acceleration limit value and the assigned second time interval.

An apparatus for monitoring an acceleration of a plurality A of axes of a multi-axis kinematic system utilizing at least one sampling process with a first sampling interval, the apparatus comprising:

• a determiner unit for determining a first acceleration limit value assigned to the first sampling interval and a second acceleration limit value, differing therefrom, for acceleration of an axis of the plurality A of axes, a second time interval being assigned to the second acceleration limit value;
• an ascertainer for ascertaining a plurality N of position values of the axis of the plurality A of axes by sampling with the first sampling interval;
• a calculator for calculating at least a current acceleration via the ascertained plurality N of position values;
• and
• a monitor for monitoring the calculated current acceleration via a first instance of monitoring utilizing the first acceleration limit value and the assigned first sampling interval and, simultaneously, via a second instance of monitoring utilizing the second acceleration limit value and the assigned second time interval.