The motor subsystem consist of independant modules for each output channel. They run asynchronously with respect to each other and to the remainder of the architecture. The motor modules accept commands from working memory and execute them. Their progress can then be monitored through sensors that are fed back into the system via the perception subsystem.
All perceptual and motor behavior is mediated through working memory. Encoding and decoding production are used to convert between high-level structures use by the cognitive system, and the low-level structures used by the perceptual and motor subsystems. These productions are the same as regular Soar production except that they match on perceptual and motor working memory elements and are independant of context (problem space, state, operator). This autonomy from context is critical because it allows the decision procedure to proceed without waiting for quiescense, which may not occur in a rapidly changing environment.