I started this post to help others working on or designing safety guarding around machinery and automation equipment. I'm not a safety engineer or a TUV certified safety either, but someone who has helped my customers for over 20 years make sense of the different safety regulations from ANSI, CSA, RIA, and ISO. Many of the safety component manufactures offer some level of training with Risk Assessments and understanding the regulation codes. Another source for training is with the RIA. Many of the USA standards documents can be purchased from their website.
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