A method of controlling a robot arrangement comprising at least one robot, wherein the method comprises the step of: - monitoring the robot arrangement by a plurality of safety monitoring functions activated in parallel; and wherein the method comprises the following steps, which are repeated a plurality of times during the execution of an application of the robot arrangement: - selecting (S10, S30, S50), on the basis of a predetermined rule arrangement comprising at least one selection rule (Rule1, Rule2), a subset of process parameters (F d, v d) from a predetermined set of process parameters; and - adjusting (S20, S40, S60) the process parameters of this selected subset of process parameters in such a way that a violation of at least one of the safety monitoring functions is avoided; wherein the predetermined set of process parameters - comprises at least one process parameter through the adjustment of which a violation of one of the safety monitoring functions activated in parallel can be avoided, and - comprises at least one other process parameter through the adjustment of which a violation of a further one of the safety monitoring functions activated in parallel can be avoided; wherein the method comprises the following step, which is repeated a plurality of times during the execution of the application: - prioritising at least one selection rule of the predetermined rule arrangement on the basis of the application, in particular a predetermined control command of the application, and / or on the basis of a state of the robot arrangement; wherein the predetermined rule arrangement comprises a hierarchised plurality of selection rules which are prioritised with respect to one another, in particular in a variable manner, and the subset of process parameters to be adapted is selected on the basis of a selection rule of the rule arrangement which has highest priority; wherein a safety reaction of the robot arrangement which is linked to the safety monitoring functions activated in parallel is not executed if at least one of these safety monitoring functions is not violated. - monitoring the robot arrangement by a plurality of safety monitoring functions activated in parallel; and wherein the method comprises the following steps, which are repeated a plurality of times during the execution of an application of the robot arrangement: - selecting (S10, S30, S50), on the basis of a predetermined rule arrangement comprising at least one selection rule (Rule1, Rule2), a subset of process parameters (F d, v d) from a predetermined set of process parameters; and - adjusting (S20, S40, S60) the process parameters of this selected subset of process parameters in such a way that a violation of at least one of the safety monitoring functions is avoided; - selecting (S10, S30, S50), on the basis of a predetermined rule arrangement comprising at least one selection rule (Rule1, Rule2), a subset of process parameters (F d, v d) from a predetermined set of process parameters; and - adjusting (S20, S40, S60) the process parameters of this selected subset of process parameters in such a way that a violation of at least one of the safety monitoring functions is avoided; wherein the predetermined set of process parameters - comprises at least one process parameter through the adjustment of which a violation of one of the safety monitoring functions activated in parallel can be avoided, and - comprises at least one other process parameter through the adjustment of which a violation of a further one of the safety monitoring functions activated in parallel can be avoided; - comprises at least one process parameter through the adjustment of which a violation of one of the safety monitoring functions activated in parallel can be avoided, and - comprises at least one other process parameter through the adjustment of which a violation of a further one of the safety monitoring functions activated in parallel can be avoided; wherein the method comprises the following step, which is repeated a plurality of times during the execution of the application: - prioritising at least one selection rule of the predetermined rule arrangement on the basis of the application, in particular a predetermined control command of the application, and / or on the basis of a state of the robot arrangement; - prioritising at least one selection rule of the predetermined rule arrangement on the basis of the application, in particular a predetermined control command of the application, and / or on the basis of a state of the robot arrangement; wherein the predetermined rule arrangement comprises a hierarchised plurality of selection rules which are prioritised with respect to one another, in particular in a variable manner, and the subset of process parameters to be adapted is selected on the basis of a selection rule of the rule arrangement which has highest priority; wherein a safety reaction of the robot arrangement which is linked to the safety monitoring functions activated in parallel is not executed if at least one of these safety monitoring functions is not violated.