The present invention relates to a motor controller providing a dual-channel func-tional-safety (FS) safe-torque-off (STO) function when controlling a motor. The motor controller includes an inverter with low-side switches and high-side switches, a low-side gate drive connected to the low-side switches, a high-side gate drive connected to the high-side switches, a first functional-safety safe-torque-off circuit connected to the high-side gate drive and a second functional-safety safe-torque-off circuit connected to the low-side gate drive, and a non-reinforced high-voltage isolation barrier.