Patent Document ID: 10126729
Application ID: 14498038
Patent Flag: 1

Claim One:
1. A method for operating a machine with a plurality of position-controlled axes, comprising: controlling with a control device of the machine the position-controlled axes in accordance with a part program while the control device processes a system program, under control of the control device, moving an end effector under position control along a track defined by the part program via at least one intermediate element relative to a base body of the machine, checking with the control device, while processing the system program and before control of the position-controlled axes, by way of a parameterized model of the machine, whether the end effector is able to move along the track without collisions, receiving with the control device, before checking of the part program, initial measured values characteristic for the actual configuration of the machine, determining with the control device, before checking of the part program, parameters of the parameterized model based on the initial measured values, parameterizing the model with the control device in accordance with the determined parameters, and in the event of a collision, determines based on the model at least one of a direction and orientation of the end effector in three-dimensional geometrical space, in which the largest clearance is to be expected.