Surgical Robotic Arm (SSME-01) | Celera Motion Surgical Robotic Arm (SSME-01) The customer required precision rotary axis control in the lowest profile form factor for multiple sequential robot arm joints. Key additional requirements included minimal movement at start-up to report absolute position, and minimal signal cabling keep the overall arm size as small as possible. A series of custom-sized PCB-based encoder modules with FPGA control and BiSS communication interfaces was developed by MicroE, each featuring two standard ChipEncoderTM readheads and a Micro Motion AbsoluteTM (MMA) rotary grating disk. MMA grating technology employs a standard 40 micron pitch incremental counting track, coupled with a reference track where each index is uniquely spaced. With only a small movement at s

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