Soc motor control

I'm going to implement a motor control based on FPGA with a NIOS II soft processor, I need the system to meet the requirements of TUV and IEC 61508 certificates.

I have read one solution to use a redundancy system, but I couldn't understand how I can do that?

and, does the redundancy system need a physical hardware to be added as an addition with the FPGA? or is there anther soft solution like adding a soft processor such as NIOS II?