In accordance with ISO 3691-4, Pilz has released a comprehensive safety system consisting of the safe small controller PNOZmulti 2 with new functionalities for synchronization monitoring and activation, the safety laser scanner PSENscan, and the industrial firewall SecurityBridge. The PNOZmulti Configurator software has new function blocks allowing for monitoring of synchronization of the axes on an autonomous mobile robot. The program function compares the encoder values of the two axes, enabling conclusions to be drawn about the mobile platform’s direction of movement. This information also allows for dynamic safe zone switching in the safety laser scanner via the PSENscan function block in the PNOZmulti Configurator.