Method for shutting down at least one axis (A1 - A6) of a manipulator , wherein each axis (A1 - A6) is assigned a drive , and wherein at least one control device which is set up to control the manipulator according to the method is assigned to the manipulator , wherein the method comprises at least the following method steps: recognizing a collision of the at least one axis (A1 - A6) of the manipulator and outputting a signal to shut down at least one axis (A1 - A6) of the manipulator , wherein the at least one axis (A1 - A6) of the manipulator is assigned a sensor, which is set up to monitor a torque acting on the axis (A1 - A6) and/or a force acting on the axis (A1 - A6), and wherein a collision of the at least one axis (A1 - A6) of the manipulator is recognized by means of the sensor; detecting a current position of the at least one axis (A1 - A6) at the time that the collision is recognized; setting the target position of the at least one axis (A4) to a position of the axis (A4) in which there is no collision, wherein the position of the axis (A4) in which there is no collision is a position on a movement path of the manipulator through which movement path the manipulator would travel before the recognition of the collision of the manipulator ; braking the at least one axis (A4) until the current speed of the at least one axis (A4) is equal to zero, characterized in that the method also comprises the following method steps: reversing and shutting down the at least one axis (A4) into the set target position in a compliance control, wherein a spring constant value (c 4 ) is assigned to the at least one axis (A4) in the compliance control, and wherein a drive which is assigned to the at least one axis (A4) generates a force and/or a torque for reversing the at least one axis (A4) which depends on the deviation of the current position of the axis (A4) from the set target position of the axis (A4) and the spring constant value (c 4 ), wherein the spring constant value (c 4 ) of the at least one axis (A4) when reversing and shutting down is defined in such a way that the at least one axis (A4) does not overshoot. recognizing a collision of the at least one axis (A1 - A6) of the manipulator and outputting a signal to shut down at least one axis (A1 - A6) of the manipulator , wherein the at least one axis (A1 - A6) of the manipulator is assigned a sensor, which is set up to monitor a torque acting on the axis (A1 - A6) and/or a force acting on the axis (A1 - A6), and wherein a collision of the at least one axis (A1 - A6) of the manipulator is recognized by means of the sensor; detecting a current position of the at least one axis (A1 - A6) at the time that the collision is recognized; setting the target position of the at least one axis (A4) to a position of the axis (A4) in which there is no collision, wherein the position of the axis (A4) in which there is no collision is a position on a movement path of the manipulator through which movement path the manipulator would travel before the recognition of the collision of the manipulator ; braking the at least one axis (A4) until the current speed of the at least one axis (A4) is equal to zero, characterized in that the method also comprises the following method steps: reversing and shutting down the at least one axis (A4) into the set target position in a compliance control, wherein a spring constant value (c 4 ) is assigned to the at least one axis (A4) in the compliance control, and wherein a drive which is assigned to the at least one axis (A4) generates a force and/or a torque for reversing the at least one axis (A4) which depends on the deviation of the current position of the axis (A4) from the set target position of the axis (A4) and the spring constant value (c 4 ), wherein the spring constant value (c 4 ) of the at least one axis (A4) when reversing and shutting down is defined in such a way that the at least one axis (A4) does not overshoot. <EOS>