[MikeDubreuil]

Originally Posted by Richard

I'd favor no team programming of the FPGA. [But of course I'm not a VHDL programmer.]

As an embedded software engineer I wouldn't want to comment on that until we know more about the architecture of the new system. Specifically where the "safety features" reside. There's some good ideas floating around about FPGA based counters for sensors such as encoders.