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The heart of the PEST Loop Machine is its modular drive assembly, which houses a brushless DC motor coupled to a precision planetary gearbox. This combination delivers smooth, torque-controlled motion across five speed bands (0.5a20 RPM) with less than A1 % speed varianceaeven under variable patient loads. All motor commands and sensor feedback pass through a dedicated real-time control board featuring a 32-bit ARM Cortex-M7 microcontroller running a preemptive RTOS. This ensures deterministic motion profiles and millisecond-level response to safety interrupts, while separate CAN-bus channels handle connectivity to the touchscreen HMI, Bluetooth module, and optional Wi-Fi radio.
Safety is paramount: two redundant Hall-effect encoders constantly monitor loop position and velocity, and a third, independent current-sense monitor detects any over-torque condition. Should resistance exceed configurable thresholds, the firmwareas dual-watchdog architecture halts the motor drive within 10 ms. Additional fail-safes include a hardware emergency-stop button, passive electromagnetic brakes that engage on power loss, and continuous self-diagnostics of key components (motor temperature, loop harness tension, and PCB health). The entire electronics stack is housed in an IP54-rated enclosure, with medical-grade isolation transformers and surge protection to meet IEC 60601-1 safety and EMC standards.

















































































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