This report contains findings of a project that involved hardware-software co‑design for a low-cost motion control board. It separately addresses organisational, development process and technical points of view. It was found, during the course of the project, that the organisational model needed to be changed, in order to improve the technical decision making process. Also, a missing technical capability was identified that would have connected multi-domain simulation (Model Based Design) of dynamic systems on one hand, and verification of the finished product in the target simulator on the other hand. For this project, due to its relatively small size and the fact that actual physical prototypes of the appliance were available, it was found not economically feasible to construct such a link. However, had such capability existed before the project started, the computational effort involved in simulating a massively parallel target host limits the ability to simulate real-world motion control scenarios. Hence, validation took place in the simulator environment as well as actual physical prototypes of the applicance