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Safety-related parts of control systems must be designed so that single fault in any of these parts does not lead to the loss of the safety function.²

Whenever reasomably pravticable, the single fault shall be detected at or before the next demand upon the safety function. This does not mean that all faults will be detected. http://www.pilz.comThe accumulation of undetected faults can lead to an uninteded output signal and a hazardous situation at the machine. click

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