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

軸計(jì)算機(jī)會通過主計(jì)算機(jī)將實(shí)際電機(jī)的單圈編碼器反饋值（ABB機(jī)器人電機(jī)編碼器采用單圈值形式Resolver）單獨(dú)報(bào)告給安全控制器。由于這這些值為電機(jī)在一圈內(nèi)的值，因此機(jī)器人的各電機(jī)當(dāng)前實(shí)際位置可以分別通過將軸計(jì)算機(jī)和SafeMove中的各自的內(nèi)部旋轉(zhuǎn)計(jì)數(shù)器的值（圈數(shù)）相加來獲得。

通過比較主機(jī)發(fā)出的目標(biāo)電機(jī)位置和實(shí)際反饋電機(jī)位置，SafeMove可以檢測到兩個(gè)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(dòng)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.