%T FPGA Based Control of a Production Cell System
%A  Marcel A. Groothuis,  Jasper J.P. Van Zuijlen,  Jan F. Broenink
%E Peter H. Welch,  S. Stepney,  F.A.C Polack,  Frederick R. M. Barnes,  Alistair A. McEwan,  G. S. Stiles,  Jan F. Broenink,  Adam T. Sampson
%B Communicating Process Architectures 2008
%X Most motion control systems for mechatronic systems are
   implemented
on digital computers. In this paper we present
   an FPGA based solution
implemented on a low cost Xilinx
   Spartan III FPGA. A Production
Cell setup with multiple
   parallel operating unit is chosen as test
case. The embedded
   control software for this system is designed in
gCSP using a
   reusable layered CSP based software structure. gCSP
   is
extended with automatic Handel\-C code generation for
   configuring the
FPGA. Many motion control systems use
   floating point calculations
for the loop controllers. Low
   cost general purpose FPGAs do not
implement hardware\-based
   floating point units. The loop controllers
for this system
   are converted from floating point to
   integer\-based
calculations using a stepwise refinement
   approach. The result is a
completely FPGAbased motion
   control system with better performance
figures than previous
   CPUbased implementations.