Mechatronics Engineer

Mechatronics Engineer:About Noble Machines: Noble Machines (formerly Under Control Robotics) builds multipurpose robots to support human workers in the world's toughest jobs—turning dangerous work from a necessity into a choice. Our work demands reliability, robustness, and readiness for the unexpected—on time, every time. We're assembling a mission-driven team focused on delivering real impact in heavy industry, from construction and mining to energy. If you're driven to build rugged, reliable products that solve real-world problems, we'd love to talk.Position Overview:At Noble Machines, building is a team sport. As a Mechatronics Engineer, you’ll take ownership of the low-level control stack that powers our multipurpose humanoid robots. You’ll design, implement, and optimize real-time motor control and fieldbus communication systems—with a strong focus on EtherCAT driver development and deterministic distributed control.This role sits at the intersection of hardware and software. You’ll work closely with controls, embedded, and mechanical teams to ensure robust, high-performance actuation and sensing across complex multi-joint robotic systems operating in demanding industrial environments.Responsibilities:Design, implement, and maintain EtherCAT master and slave drivers for distributed robotic systemsDevelop real-time motor control software for multi-axis actuation systemsIntegrate servo drives, motor controllers, encoders, IMUs, force/torque sensors, and other field devicesImplement deterministic communication pipelines with strict timing constraintsOptimize control loop performance (current, torque, velocity, and position loops)Develop and debug CAN, SPI, UART, and other industrial communication protocols as neededCollaborate with controls engineers to implement advanced control strategiesBuild tooling for diagnostics, logging, and fault detection across the actuator networkSupport hardware bring-up, system integration, and field debuggingDevelop safety mechanisms and fault recovery systems for high-power robotic platformsContribute to PCB bring-up and embedded firmware validation when requiredDocument system architecture, timing constraints, and integration processesRequirements: Bachelor’s or Master’s degree in Mechatronics, Electrical Engineering, Robotics, or related field3+ years of experience in embedded systems or mechatronics engineeringStrong experience with EtherCAT (CiA 402, distributed clocks, PDO/SDO configuration)Experience developing real-time systems (RT Linux, PREEMPT_RT, Xenomai, or similar)Strong C/C++ programming skills for low-level system developmentExperience with servo drives and motor control (FOC, BLDC, PMSM, etc.)Understanding of control theory (PID, cascaded control loops, system identification)Experience working with oscilloscopes, logic analyzers, and hardware debugging toolsFamiliarity with industrial communication protocols (CAN, SPI, I2C, UART)Understanding of power electronics fundamentals and actuator systemsExperience integrating multi-axis robotic systemsNice to Have:Experience developing or modifying EtherCAT master stacksFamiliarity with SOEM, IgH EtherCAT Master, or commercial EtherCAT stacksExperience with safety-rated motion systemsBackground in humanoid robots or high-DOF robotic systemsExperience with FPGA-based motor control or real-time accelerationFamiliarity with ROS / ROS2 integration with real-time control layersExperience designing custom motor controllers or embedded boardsKnowledge of EMI/EMC considerations in high-power robotic systemsExperience working in industrial environments (construction, mining, energy, manufacturing)Understanding of functional safety standardsThe base salary range for this full-time position is $120,000 - $250,000, in addition to bonus, equity and benefits.To apply, submit your resume here or email people@noblemachines.ai. To increase your chances of being selected for an interview, we encourage you to include up to TWO examples of your most representative work featuring hardware demonstrations, real-time control systems, or distributed actuator networks.