An LSI with built-in CPU includes a CPU core, an internal CPU bus connected to the CPU core, an external memory access-use external pin for accessing an external memory and a bus selector for outputting signals of the internal CPU bus to the external memory access-use external pin when the external memory is not being accessed. Each hotkey in the first set of hotkeys is compared to each of the hotkeys in the second set of hotkeys. The translation logic implements a higher level protocol layered on top of an underlining protocol and the communication fabric. A sum of the first torque command and the second torque command is inputted into the motors. Through the use of clamps the package is at least factory reworkable and can be field separable.