控制柜主机计算电机的目标位置值作为参考发送到轴计算机，并同时将各电机的目标位置发送到安全控制器。

轴计算机会通过主计算机将实际电机的单圈编码器反馈值（ABB机器人电机编码器采用单圈值形式Resolver）单独报告给安全控制器。由于这这些值为电机在一圈内的值，因此机器人的各电机当前实际位置可以分别通过将轴计算机和SafeMove中的各自的内部旋转计数器的值（圈数）相加来获得。

通过比较主机发出的目标电机位置和实际反馈电机位置，SafeMove可以检测到两个位置之间的任何差异（超出允许的lag error部分），从而确保驱动系统根据上述监督功能正常工作。

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.