A method of monitoring a machine in which a mechanical system is moved by a motor, wherein the mechanical system comprises more than two components (K1, K2, K3) coupled to one another, wherein one of the components (K1, K2, K3) comprises the motor, wherein at least two of the components (K1, K2, K3) move differently when the motor drives the mechanical system, and wherein - at least one movement factor (W1-W9) of one of the components (K1, K2, K3) of the mechanical system is determined repeatedly; - at least one dynamic factor of one of the components (K1, K2, K3) of the mechanical system is determined repeatedly; - the movement factors (W1-W9) of the remaining components (K1, K2, K3) of the mechanical system are calculated by means of a model of the mechanical system; and - separate mechanical parameters for the components (K1, K2, K3) of the mechanical system are determined from the determined movement factor (W1-W9), from the determined dynamic factor and from the calculated movement factors (W1-W9), characterized in that the mechanical parameters are calculated by a matrix equation system in the form A * MP = M, where A is represented by α K 1, t 1 ω K 1, t 1 1 acc K 2, t 1 ∗ dx K 2, t 1 dφ K 1, t 1 vel K 2, t 1 ∗ dx K 2, t 1 dφ K 1, t 1 dx K 2, t 1 dφ K 1, t 1 α K 3, t 1 ∗ dφ K 3, t 1 dφ K 1, t 1 ω K 3, t 1 ∗ dφ K 3, t 1 dφ K 1, t 1 dφ K 3, t 1 dφ K 1, t 1 α K 1, t 2 ω K 1, t 2 1 acc K 2, t 2 ∗ dx K 2, t 2 dφ K 1, t 2 vel K 2, t 2 ∗ dx K 2, t 2 dφ K 1, t 2 dx K 2, t 2 dφ K 1, t 2 α K 3, t 2 ∗ dφ K 3, t 2 dφ K 1, t 2 ω K 3, t 2 ∗ dφ K 3, t 2 dφ K 1, t 2 dφ K 3, t 2 dφ K 1, t 2 ⋯ ⋯ ⋯ ⋯ ⋯ ⋯ ⋯ ⋯ ⋯ α K 1, tn ω K 1, tn 1 acc K 2, tn ∗ dx K 2, tn dφ K 1, tn vel K 2, tn ∗ dx K 2, tn dφ K 1, tn dx K 2, tn dφ K 1, tn α K 3, tn ∗ dφ K 3, tn dφ K 1, tn ω K 3, tn ∗ dφ K 3, tn dφ K 1, tn dφ K 3, tn dφ K 1, tn is represented by J K 1 k Mvel, K 1 k Mstat, K 1 m K 2 k Fvel, K 2 k Fstat, K 2 J K 3 k Mvel, K 3 k Mstat, K 3 and is represented by M t 1 M t 2 ⋯ M tn, where A is a matrix of the movement factors (W1-W9), is a vector with the mechanical parameters to be determined and is a vector of the dynamic factors, wherein the vector comprises torques which correspond to the respective torque delivered by the motor at a point in time, where α is an angular acceleration, J is a moment of inertia, ω is an angular speed, k is a parameter, dx/dcp and dcp/dcp are derivatives of transfer functions, acc is an acceleration and vel is a speed. - at least one movement factor (W1-W9) of one of the components (K1, K2, K3) of the mechanical system is determined repeatedly; - at least one dynamic factor of one of the components (K1, K2, K3) of the mechanical system is determined repeatedly; - the movement factors (W1-W9) of the remaining components (K1, K2, K3) of the mechanical system are calculated by means of a model of the mechanical system; and - separate mechanical parameters for the components (K1, K2, K3) of the mechanical system are determined from the determined movement factor (W1-W9), from the determined dynamic factor and from the calculated movement factors (W1-W9), the mechanical parameters are calculated by a matrix equation system in the form A * MP = M, where A is represented by α K 1, t 1 ω K 1, t 1 1 acc K 2, t 1 ∗ dx K 2, t 1 dφ K 1, t 1 vel K 2, t 1 ∗ dx K 2, t 1 dφ K 1, t 1 dx K 2, t 1 dφ K 1, t 1 α K 3, t 1 ∗ dφ K 3, t 1 dφ K 1, t 1 ω K 3, t 1 ∗ dφ K 3, t 1 dφ K 1, t 1 dφ K 3, t 1 dφ K 1, t 1 α K 1, t 2 ω K 1, t 2 1 acc K 2, t 2 ∗ dx K 2, t 2 dφ K 1, t 2 vel K 2, t 2 ∗ dx K 2, t 2 dφ K 1, t 2 dx K 2, t 2 dφ K 1, t 2 α K 3, t 2 ∗ dφ K 3, t 2 dφ K 1, t 2 ω K 3, t 2 ∗ dφ K 3, t 2 dφ K 1, t 2 dφ K 3, t 2 dφ K 1, t 2 ⋯ ⋯ ⋯ ⋯ ⋯ ⋯ ⋯ ⋯ ⋯ α K 1, tn ω K 1, tn 1 acc K 2, tn ∗ dx K 2, tn dφ K 1, tn vel K 2, tn ∗ dx K 2, tn dφ K 1, tn dx K 2, tn dφ K 1, tn α K 3, tn ∗ dφ K 3, tn dφ K 1, tn ω K 3, tn ∗ dφ K 3, tn dφ K 1, tn dφ K 3, tn dφ K 1, tn is represented by J K 1 k Mvel, K 1 k Mstat, K 1 m K 2 k Fvel, K 2 k Fstat, K 2 J K 3 k Mvel, K 3 k Mstat, K 3 and is represented by M t 1 M t 2 ⋯ M tn, where A is a matrix of the movement factors (W1-W9), is a vector with the mechanical parameters to be determined and is a vector of the dynamic factors, wherein the vector comprises torques which correspond to the respective torque delivered by the motor at a point in time, where α is an angular acceleration, J is a moment of inertia, ω is an angular speed, k is a parameter, dx/dcp and dcp/dcp are derivatives of transfer functions, acc is an acceleration and vel is a speed.