If you haven't yet implemented one into your design process, start today. Find a certified TÜV Functional Safety Engineer, ask for their calculator template, and start validating your machines.
The calculator automates the "risk graph" or "risk parameters" method. It helps you convert real-world hazards into a numeric and, crucially, tells you what Performance Level (PLr) or Safety Integrity Level (SIL) your safety system needs to achieve. iec risk assessment calculator
Take the Guesswork Out of Machine Safety: A Guide to the IEC Risk Assessment Calculator If you haven't yet implemented one into your