Subjects had to report the direction of motion (left or right) of a cloud of flickering dots by looking at one of two peripheral targets. a RDM task (non-urgent). The motion stimulus is presented and evaluated first (between Cue on and Cue off, 600–1000 ms), well before the go signal (fixation point offset; Go). The time interval between the go and saccade onset (RT) is indicated. b Performance in the RDM task as a function of motion coherence. Results are from behavioral (black circles) and recording sessions (cyan circles) from monkeys C (left; 7363 behavior trials; 8685 recording trials) and T (right; 4547 behavior trials; 3952 recording trials). Points indicate percentage of correct choices across trials and error bars indicate 95% confidence intervals. c CRDM task (urgent). The go signal (Go) is presented first and the motion stimulus follows (Cue on) after an unpredictable delay period between them (Gap, 0–250). The RT time window for responding is limited (350–425 ms), so the perceptual evaluation must occur as the motor plan develops. The likelihood of success is dictated by the processing time interval (rPT = RT − gap), which is when the motion cue is visible. Gray lines mark intervals (RT, Gap, rPT) between events (black squares). d Performance in the CRDM task as a function of rPT, or tachometric curve. Results are from behavioral sessions from monkeys C (left) and T (right) for 100% (red; C: 9544, T: 33,971 trials) and a lower coherence (black; C: 7,909, T: 12,066 trials). Each point includes trials within a 51 ms rPT bin. Traces show percentage of correct choices across trials in each bin, and shaded error bands indicate ± 1 SE. Source data are provided as a Source Data file.