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In this paper, an approach for real time control communication using Ethernet is proposed. The strategy to support this at the network level and include Field Programmable Gate Array (FPGA) implementation on the Ethernet platform for robotic arm. An embedded Ethernet controller is designed to send data packet via Ethernet Local Area Network (LAN)....
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Citations
... The working of FPGA is depend on the clocks that can be controlled depending on the application. FPGA also have higher speed than microcontroller in communication application such as in experiment control performance on the robotic arm [5]. ...
Servo motor is the DC motor with gear box inside which controlled by pulse width modulation to set the position. There are many ways to control it, such as with a microcontroller, microprocessor or computer. If a microcontroller only has 2 timer interrupts, this become problem when control more than 2 motor servo also processes another algorithm. A computer cannot directly control the servo motor, must be connected with another peripheral if using serial communication. A computer can directly control servo motor with using a parallel port on it, commonly a computer doesn't have a parallel port but can be used USB to parallel port. A FPGA is a peripheral that we can design it as many kinds of digital application such as NAND gate, OR gate, etc. This paper presents about controlling position of multi servo motor with single chip FPGA. The experimental test shown that the single chip FPGA can control multi servo motor with 4 motor servo.
... Owing to the maximum Ethernet packet length of 88 B and the latency of 51 clocks, the FIFO size is enlarged from 1 to 10 kB by assigning FIFO1, FIFO2, FIFO3, FIFO41, FIFO42, FIFO51, and FIFO52 with 2, 2, 2, 1, 1, 1, and 1 kB, respectively, to complete the gigabit Ethernet with the operating frequency of 125 MHz (1 Gbps = 8 × 125 Mbps). Next, the processing latency of 139.31 µs is superior to that reported in [18] but it is inferior to that reported in the other references in Table 1. The throughput of the proposed interface is the smallest compared with that reported in the references in Table 1. ...
... This is because the interface proposed in this paper contains an RS485 module, which operates at a baud rate of 115,200 bps. Two similar papers [5,18] have been published. However, they lack measurement results. ...
... This is because the interface proposed in this paper contains an RS485 module, which operates at a baud rate of 115,200 bps. Similar interfaces have been described in two papers [5,18]; however, these papers have not provided measurement results. FPGA and PC measurements validate that the designed two-port-two-port SI operates successfully. ...
This study proposes a two‐port Ethernet and two‐port RS485 network serial interface (SI) for packet transformation and data transmission for computer‐to‐computer communication. The proposed SI, which is composed of an RS485 module, an Ethernet module, a transmitter manager, a receiver manager, and the manager first‐in–first‐out (FIFO) queue, not only increases the data transmission rate but also guarantees correct communication between two Ethernet modules and two RS485 modules. An application‐specific integrated circuit is proposed to increase the operation frequency of the two‐port–two‐port SI. Furthermore, the large FIFO size enables the transmission of the maximum Ethernet packet length of 88 B and allows the latency of 51 clocks to be overcome. The measurement results indicate that the operating frequency, baud rate, data transfer rate, power consumption, processing delay, gate count, and chip size are 125 MHz, 115,200 Hz, 1 Gbps, 137 mW, 139.31 µs, 162,300, and 1.27 × 1.27 mm², respectively, at a power supply of 1.8 V and total FIFO queue of 10 kB. The error between the theoretical throughput (7.342 Mbps) and the measured throughput (7.5067 Mbps) was ∼2.24%.
... Mohamad Khairi Ishak , Ho Kar Hwai and Lee Kong Lam [1] communication is successfully developed at high data transfer for real-time control communication to communicate with other controller device for robotic arm with Arduino board and FPGA board via Ethernet. Through this implementation, the ability to communicate safety data directly over an Ethernet/IP network is achieved. ...
