Plant engineers responsible for the functional safety of machinery can get help in the form of a 200-page technical guide from Pilz Automation Technology.

Its Safety Compendium, which was compiled by a committee of machinery safety experts at the organisation, is available to download or as a hard copy.
Topics covered include: law, directives and standards (including the new Machinery Directive 2006/42/EC); safeguards and other protective equipment; safety control technology; safety-related communications; and safe motion control.
Section 2.3 of the publication includes a comparison of the old and new Machinery Directives.