控制柜主機計算電機的目標(biāo)位置值作為參考發(fā)送到軸計算機，并同時將各電機的目標(biāo)位置發(fā)送到安全控制器。

軸計算機會通過主計算機將實際電機的單圈編碼器反饋值（ABB機器人電機編碼器采用單圈值形式Resolver）單獨報告給安全控制器。由于這這些值為電機在一圈內(nèi)的值，因此機器人的各電機當(dāng)前實際位置可以分別通過將軸計算機和SafeMove中的各自的內(nèi)部旋轉(zhuǎn)計數(shù)器的值（圈數(shù)）相加來獲得。

通過比較主機發(fā)出的目標(biāo)電機位置和實際反饋電機位置，SafeMove可以檢測到兩個位置之間的任何差異（超出允許的lag error部分），從而確保驅(qū)動系統(tǒng)根據(jù)上述監(jiān)督功能正常工作。

The control cabinet host calculates the target absolute position value of the motor as a reference and sends it to the axis computer, while also sending the absolute target positions of each motor to the safety controller.
The axis computer will separately report the feedback value of the actual motor's single turn encoder (ABB robot motor encoder uses single turn absolute value Resolver) to the safety controller through the main computer. Since these values represent the values of the motor within one revolution, the actual absolute positions of each motor in the robot can be obtained by adding up the values (number of revolutions) of their respective internal rotation counters in the axis computer and SafeMove.
By comparing the target motor position sent by the host with the actual feedback motor position, SafeMove can detect any difference between the two positions (exceeding the allowable lag error part), ensuring that the drive system operates normally according to the first supervision function mentioned above.