US Patent 9248571 Method for operating a multi-axis robot

A method for operating a multi-axis, preferably six-axis, robot with axes that can be driven by drive means is proposed. The axes are possible to be moved separately and their movement is controlled by a control facility. Before the movement of the robot is executed, a control data record is created for controlling the movement of the robot as a function of initial and target information for the robot input by a user. The control facility performs a verification of the control data record in respect of at least one predefined basic condition relating to the operation of the robot stored in a memory. The control data record is adjusted based on the at least one basic condition while retaining the target information as a function of the result of the check.