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For prgramming FPGAs, there exists various modes like : 1) JTAG 2) Serial Slave etc. more information on them you can find on the website of Xilinx.
Xilinx also provides cables for programming, in case of development boards they come along with. However for your own design board you can use either flying leads or compatible connector for connecting TDI,TDO,TCLK,TMS,Vref and GND of these cable pods to FPGA in JTAG mode.
You can find these details on **broken link removed**
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