In this work, an all-in-one neuromorphic controller system with reduced latency and power consumption for a robotic arm is presented. [...] The Event-Driven Scorbot platform (ED-Scorbot) consists of a 6 Degrees of Freedom (DoF) robotic arm whose controller implements a Spiking Proportional-Integrative-Derivative algorithm, mimicking in this way the previously commented biological systems. In this paper, we present an infrastructure upgrade to the ED-Scorbot platform, replacing the controller\'s hardware, which was comprised of two Spartan Field Programmable Gate Arrays (FPGAs) and a barebone computer, with an edge device, the Xilinx Zynq-7000 SoC (System on Chip) which reduces the response time, power consumption and overall complexity.