FPGA-based motion controller using CAN

The CAN (controller area network) is networks already have been guaranteed as reliable in harsh car environments. In this paper, a motion control module and a CAN control module was developed using the FPGA (field-programmable gate array). Proposed module runs by receiving command data from the host computer via CAN and sends the motion control status to the host computer in real time. The host computer can monitor and determine the error state of motion controller by analyzing the received data. The velocity data of motion controller is transferred to the host computer in the experiment. The host computer determines the status of motion controller in real time by receiving the velocity data from it.