Method for checking a robot path

The invention relates to a method for checking a robot (12, 102) having a robot controller (104) having a predeterminable safety range (14, 16, 44), wherein the robot (12, 102) is provided to interrupt the travelling of the robot tool centre point (TCP) into the safety range (14, 16, 44) in case the robot tool centre point (TCP) travels into the safety range (14, 16, 44) during the execution of a movement program. The method comprises the following steps: fixing a safety range (14, 16, 44) which is surrounded by boundary surfaces (18, 46, 48, 50) spanned between respective boundary points (52, 54), predetermining the safety range (14, 16, 44) on the robot controller (104), if the safety range (14, 16, 44)is not yet predetermined, fixing a test movement path (20, 60) which in principle lies outside the safety range (14, 16, 44) having a plurality of path points (56, 58, 72, 82), wherein at least one path point (56, 58, 72, 82) is located in the immediate vicinity (62, 64) of one of the boundary surfaces (52, 54), executing a test movement program by means of moving the TCP along the test movement path (20, 60), checking whether the execution of the test movement program is interrupted.