Method for preventing a collision between a part movable along an axis and an obstacle

A method for preventing the collision of an obstacle by a part movable along at least two axes of a machine, each axis of the at least two axes having a feeder drive, the method comprising steps of:

• retrieving speed data of the part at a moment of retrieval during an individual predetermined time interval to obtain retrieved speed data,
• varying the retrieved speed data via a maximum acceleration of the associated feeder drive at least during the individual predetermined time interval to obtain varied speed data,
• repeatedly determining a minimum stopping distance at individual predetermined time intervals using relative location data and the speed data of the part as a function of the machine and of part data, the minimum stopping distance having components related to an individual axis,
• wherein at least one component of the components of the minimum stopping distance is determined from the varied speed data instead of from the retrieved speed data, and
• performing a collision calculation using the minimum stopping distance.