ICON is looking for a Mechatronics Engineer to join our Robotics team in Austin, TX. You will work at the intersection of mechanical systems, electronics, and software to design, integrate, and validate the electromechanical systems that drive ICON's large-scale robotic systems. This role is embedded within a multidisciplinary robotics team and requires someone who understands how hardware and software must work together to produce reliable, precision motion. This role participates in a rotating on-call schedule, one week at a time, responding to escalated support tickets from the field and is based at ICON's Austin, TX headquarters, reporting to the Director of Robotics.

RESPONSIBILITIES:

• Design, integrate, and validate electromechanical systems for large-scale robotics applications.
• Configure, tune, and commission servo drives, motors, encoders, and associated motion hardware within an EtherCAT-based control architecture.
• Develop and maintain low-level embedded software for motion control, I/O management, and hardware interfacing in C/C++ or equivalent real-time environments.
• Translate motion requirements into drive configurations, tuning parameters, and electrical specifications.
• Support the design and layout of electrical panels, cable assemblies, and interface hardware in close coordination with the mechanical and electrical teams.
• Develop and execute hardware integration and acceptance test procedures across robotic subsystems.
• Contribute to simulation environments by providing accurate actuator and drive models that reflect physical hardware behavior.
• Participate in design and code reviews to maintain consistency and quality across hardware and software deliverables.

MINIMUM QUALIFICATIONS:

• B.S. in Mechatronics Engineering, Electrical Engineering, Mechanical Engineering, or a closely related field.
• 3+ years of professional experience in mechatronics or electromechanical systems.
• Hands-on experience configuring and commissioning servo drives, encoders, and motion hardware in a multi-axis robotic or industrial automation context.
• Working knowledge of EtherCAT or a comparable industrial fieldbus protocol (CANopen, Profinet, EtherNet/IP).
• Practical embedded or real-time programming experience in C or C++, applied to motion control or hardware interfacing.
• Ability to read and produce electrical schematics and wiring diagrams.
• Experience supporting hardware/software integration and participating in structured validation testing.

PREFERRED SKILLS AND EXPERIENCE:

• Direct experience with the Beckhoff/EtherCAT ecosystem — TwinCAT, acontis EtherCAT master, or equivalent.
• Experience with robotic arm kinematics at a systems level — sufficient to understand how drive behavior and mechanical design affect motion quality.
• Familiarity with real-time operating environments or embedded Linux in a controls context.
• Exposure to functional safety standards relevant to robotic systems (IEC 62061, ISO 13849, or equivalent).
• Experience contributing to hardware-in-the-loop (HIL) or simulation environments.
• Familiarity with sensor integration — IMUs, force/torque sensors, encoders — and basic state estimation concepts.
• Ability to earn trust, maintain positive and professional relationships, and contribute to a culture of performance.