SafeMove將計算機(jī)器人關(guān)節(jié)位置，并對照存儲的值進(jìn)行檢查，以確認(rèn)同步是否正確，包括以下幾點(diǎn)：
SafeMove使用正確的轉(zhuǎn)數(shù)計數(shù)器值正常工作（即判斷SafeMove中的電機(jī)圈數(shù)和軸計算機(jī)/SMB中的電機(jī)圈數(shù)值是否一致）
機(jī)器人型號/序列號是否一致
電機(jī)偏移值是否正確
SMB工作正常

滿足安全Cat.3的監(jiān)督
要符合Cat.3，兩個獨(dú)立的通道應(yīng)始終給出相同的結(jié)果。一個通道包括由帶有驅(qū)動系統(tǒng)、電機(jī)、resolver編碼器和測量系統(tǒng)的軸計算機(jī)組成。第二個通道包括主計算機(jī)的發(fā)出目標(biāo)位置。使用SafeMove評估電路對這些通道進(jìn)行比較，該評估電路本身就是雙通道。
附加安全設(shè)計
除了正式要求之外，由于resolver正弦和余弦雙輸出特性帶來了額外的安全性，其中resolver的兩個信號平方和要接近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