A question about SafeMove synchronization Software...

Mede

Often we find ourselves in the process Automotive islands (like inserting plugs or coating) a customer's request to put the sensors to determine if the robot is always ok from the positions repeatability viewpoints. The old hardware synchronization with sensor and fork feeler to speak...
We say that now the synchronization is done software,but we could not find documentation that allows us to explain to the customer how it works, or if it controls the resolver position of each axis cyclically with the centesimal tolerance windows, or other ...
In some cases the client (which is generally a carmaker) prefer to use the old hardware synchronization with sensor because we can not explain in a comprehensive way that the synchronization software is equally valid.
If you have some documentation about, we would be grateful.