A highly integrated joint controller using in a humanoid robot arm has been developed in the paper. The joint controller is highly integrated with position sensors - the hall sensors, the magnetic sensor and the photoelectrical sensor, the torque sensors, the temperature sensor and so on. Besides, it can control and drive the motor in PWM and SVPWM modes. What is more, the joint controller has been integrated with five level emergent condition response strategies to ensure safety of the robot arm. To test performance of the joint controller, a testing platform has been established. Though a serious of experiments, the performance of the joint controller including the motor drive function, the sensor information acquisition and the joint track and velocity control can be validated.