Cancho Robot has built the host-side motion gate for a robot arm before connecting a servo or field-programmable gate array (FPGA), a chip whose logic can be rewired after manufacturing. The module sits between motion software and the future hardware. It checks limits, reads back the configured values, can send a stop command, and refuses motion when the state is unknown.
The useful part is the dry-run path. Tests exercise the register plan, the numbered storage locations through which software will configure the FPGA, without opening a device. Separate tests cover refused commands and the software's allowed access to the operating system. The design document also says what the FPGA should handle, where it would sit between two USB servo adapters, and why three camera streams stay in software.
No physical motor has validated the timing, electrical behavior, or emergency stop yet, so this is a tested interface rather than a tested safety system. Building that interface first gives the team concrete failure cases to carry into the hardware test. When the FPGA arrives, the first bench run should prove that a bad limit, stale readback, and lost connection each leave the arm stopped.