2.2.4.3. Internal layout
The FPGA V3/dRAC-based controllers contain one FPGA V3 and one dRAC board, a LED board, 2 power supplies (12V logic and 48V motors and brakes).
dRAC, FPGA V3 based Si controller internals
The FPGA is mounted against the controller’s front panel, so we can use the FireWire and Ethernet ports directly. The dRAC is mounted against the back of the controllers to expose the 2 D-sub and e-stop connectors. This design greatly reduces the amount of internal wiring compared to the dVRK Classic controllers.
dRAC, FPGA V3 based Si controller internals