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Basically this paper focuses on hardware and software interfacing for robot arm controller application. The purpose of this project is to design and build a control system for position control for robot arm with an FPGA chip. This is closed loop control system. In which Controller, Drive circuits and the Sensor circuit plays important role. Plus Width Modulation (PWM) is used to control the speed of DC motor. The hardware functional block is to be design in software module with the help of VHDL coding. This hardware and software co-design is for five axes OWI 535 arm robot model for the movement of robot arm for pick and place application. The interfacing of different hardware blocks with software module for real time application is very challenging and demanding in every field to achieve better command over control through software only without disturbing the hardware. It reduced the manufacture time, performance, accuracy and lifetime of the particular system.