Abstract: A control system for achieving high-speed torque for a joint of a robot includes a printed circuit board assembly (PCBA) having a collocated joint processor and high-speed communication bus. The PCBA may also include a power inverter module (PIM) and local sensor conditioning electronics (SCE) for processing sensor data from one or more motor position sensors. Torque control of a motor of the joint is provided via the PCBA as a high-speed torque loop. Each joint processor may be embedded within or collocated with the robotic joint being controlled. Collocation of the joint processor, PIM, and high-speed bus may increase noise immunity of the control system, and the localized processing of sensor data from the joint motor at the joint level may minimize bus cabling to and from each control node. The joint processor may include a field programmable gate array (FPGA).

Abstract: A spindle motor includes a rotor including a rotary shaft and magnets, a stator including a bearing, which supports the rotary shaft, and an armature corresponding to the magnets. The rotor is caused to rotate by an electromagnetic force generated by the magnets and the armature. The stator includes a plate having a stepped portion in a portion thereof, which faces the rotary shaft.