SafeMove将计算机器人关节位置，并对照存储的值进行检查，以确认同步是否正确，包括以下几点：
SafeMove使用正确的转数计数器值正常工作（即判断SafeMove中的电机圈数和轴计算机/SMB中的电机圈数值是否一致）
机器人型号/序列号是否一致
电机偏移值是否正确
SMB工作正常

满足安全Cat.3的监督
要符合Cat.3，两个独立的通道应始终给出相同的结果。一个通道包括由带有驱动系统、电机、resolver编码器和测量系统的轴计算机组成。第二个通道包括主计算机的发出目标位置。使用SafeMove评估电路对这些通道进行比较，该评估电路本身就是双通道。
附加安全设计
除了正式要求之外，由于resolver正弦和余弦双输出特性带来了额外的安全性，其中resolver的两个信号平方和要接近1

SafeMove will calculate the robot joint positions and check against stored values to confirm proper synchronization, including the following points:
SafeMove works properly with the correct rotation counter value (i.e. checks if the number of motor turns in SafeMove matches the number of motor turns in the shaft computer/SMB)
Is the robot model/serial number consistent
Is the motor offset value correct
SMB is working properly
Meet the supervision of safety Cat.3
To comply with Cat. 3, two independent channels should always give the same result. A channel consists of a shaft computer with a drive system, motor, solver encoder, and measurement system. The second channel includes the emitting target location of the main computer. Compare these channels using the SafeMove evaluation circuit, which itself is a dual channel evaluation circuit.
Additional security design
In addition to formal requirements, the dual output characteristics of sine and cosine of the solver bring additional safety, where the sum of squares of the two signals of the solver needs to be close to 1