SIST EN 574:1998+A1:2008

SLOVENSKI STANDARD
SIST EN 574:1998+A1:2008
01-oktober-2008
9DUQRVWVWURMHY'YRURþQHNUPLOQHQDSUDYH)XQNFLRQDOQLYLGLNL1DþHOD
QDþUWRYDQMD
Safety of machinery - Two-hand control devices - Functional aspects - Principles for
design
Sicherheit von Maschinen - Zweihandschaltungen - Funktionelle Aspekte -
Gestaltungsleitsätze
Sécurité des machines - Dispositifs de commande bimanuelle - Aspects fonctionnels -
Principes de conception
Ta slovenski standard je istoveten z: EN 574:1996+A1:2008
ICS:
13.110 Varnost strojev Safety of machinery
SIST EN 574:1998+A1:2008 en
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.

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SIST EN 574:1998+A1:2008

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SIST EN 574:1998+A1:2008


EUROPEAN STANDARD
EN 574:1996+A1

NORME EUROPÉENNE

EUROPÄISCHE NORM
June 2008
ICS 13.110 Supersedes EN 574:1996
English Version
Safety of machinery - Two-hand control devices - Functional
aspects - Principles for design
Sécurité des machines - Dispositifs de commande Sicherheit von Maschinen - Zweihandschaltungen -
bimanuelle - Aspects fonctionnels - Principes de Funktionelle Aspekte - Gestaltungsleitsätze
conception
This European Standard was approved by CEN on 20 November 1996 and includes Amendment 1 approved by CEN on 18 May 2008.

CEN members are bound to comply with the CEN/CENELEC Internal Regulations which stipulate the conditions for giving this European
Standard the status of a national standard without any alteration. Up-to-date lists and bibliographical references concerning such national
standards may be obtained on application to the CEN Management Centre or to any CEN member.

This European Standard exists in three official versions (English, French, German). A version in any other language made by translation
under the responsibility of a CEN member into its own language and notified to the CEN Management Centre has the same status as the
official versions.

CEN members are the national standards bodies of Austria, Belgium, Bulgaria, Cyprus, Czech Republic, Denmark, Estonia, Finland,
France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, Netherlands, Norway, Poland, Portugal,
Romania, Slovakia, Slovenia, Spain, Sweden, Switzerland and United Kingdom.






EUROPEAN COMMITTEE FOR STANDARDIZATION
COMITÉ EUROPÉEN DE NORMALISATION

EUROPÄISCHES KOMITEE FÜR NORMUNG

Management Centre: rue de Stassart, 36  B-1050 Brussels
© 2008 CEN All rights of exploitation in any form and by any means reserved Ref. No. EN 574:1996+A1:2008: E
worldwide for CEN national Members.

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EN 574:1996+A1:2008 (E)
Contents Page
Foreword.3
Introduction .4
1 Scope .4
2 Normative references .5
3 Definitions .5
4 Types of two-hand control devices and their selection .7
5 Characteristics of safety functions.9
6 Requirements related to categories of control.10
7 Use of programmable electronic systems .11
8 Prevention of accidental actuation and of defeat.12
9 General requirements.14
10 Verification .16
11 Marking .20
12 Information for installation, use and maintenance .21
Annex A (normative) Measurement tests for the prevention of defeat.23
Annex B (informative) Use of categories (according to EN 954-1:1996) in types of two-hand
control devices.28
Annex ZA (informative) !!!!Relationship between this European Standard and the Essential
Requirements of EU Directive 98/37/EC"""".29
Annex ZB (informative) !!Relationship between this European Standard and the Essential
!!
Requirements of EU Directive 2006/42/EC"""".30
Bibliography .31

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EN 574:1996+A1:2008 (E)
Foreword
This document (EN 574:1996+A1:2008) has been prepared by Technical Committee CEN/TC 114 “Safety of
machinery”, the Secretariat of which is held by DIN.
This European Standard shall be given the status of a national standard, either by publication of an identical
text or by endorsement, at the latest by December 2008, and conflicting national standards shall be withdrawn
at the latest by December 2008.
This document includes Amendment 1, approved by CEN on 2008-05-18.
This document supersedes EN 574:1996.
The start and finish of text introduced or altered by amendment is indicated in the text by tags ! ".
This document has been prepared under a mandate given to CEN by the European Commission and the
European Free Trade Association, and supports essential requirements of EU Directive(s).
!For relationship with EU Directive(s), see informative Annexes ZA and ZB, which are integral parts of this
document."
This standard is a type B standard in the structure of A-/B-/C-standards as defined in EN 292.
Annex A of this standard is normative, whereas annexes B and C are informative.
According to the CEN/CENELEC Internal Regulations, the national standards organizations of the following
countries are bound to implement this European Standard: Austria, Belgium, Bulgaria, Cyprus, Czech
Republic, Denmark, Estonia, Finland, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia,
Lithuania, Luxembourg, Malta, Netherlands, Norway, Poland, Portugal, Romania, Slovakia, Slovenia, Spain,
Sweden, Switzerland and United Kingdom.
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Introduction
This standard has been prepared to be a type B standard in the sense of the Machinery Directive
(89/392/EWG) and associated EFTA regulations.
A two-hand control device is a safety device (safety component). It provides a measure of protection for the
operator against reaching danger zones during hazardous situations by locating the control actuating devices
in a specific position. For hand held machinery it should be taken into consideration that the danger zone is
not stationary.
The selection of a two-hand control device as an appropriate safety device will depend upon the risk
assessment made by designers, standard makers and others in accordance with EN 292-1 and EN 1050.
The definition of a two-hand control device is given in 3.1 and takes precedence over the definition in 3.23.4 of
EN 292-1:1991.
In some arrangements enabling devices (see 3.23.2 of EN 292-1:1991) and/or hold-to-run devices (see 3.23.3
of EN 292-1:1991) may comply with the definition of a two-hand control device in this standard. Additionally,
some special control devices - such as teach pendants for robots and some crane controls – require the use
of two hands and can comply with the definition a two-hand control device in this standard.
1 Scope
This standard specifies the safety requirements of a two-hand control device and its logic unit as defined in
3.1.
This standard describes the main characteristics of two-hand control devices for the achievement of safety
and sets out combinations of functional characteristics for three types. This standard does not apply to
devices intended to be used as enabling devices, hold to run devices and as special control devices.
This standard does not specify with which machines two-hand control devices shall be used. It also does not
specify which types of two-hand-control device shall be used. Moreover it does not specify the distance
between the two-hand control device and the danger zone (see 9.8).
The standard provides requirements and guidance on the design and selection (based on a risk assessment)
of two-hand control devices including their assessment, the prevention of defeat and the avoidance of faults.
The standard also provides requirements and guidance for two-hand control devices containing a
programmable electronic system (see 7).
This standard applies to all two-hand control devices, independent of the energy used, including:
 Two-hand control devices which are or are not integral parts of a machine;
 Two-hand control devices which consist of one or more than one separate elements.
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2 Normative references
This European Standard incorporates by dated or undated reference, provisions from other publications.
These normative references are cited at the appropriate places in the text and the publications are listed in
this clause. For dated references, subsequent amendments to or revisions of any of these publications only
apply to this European Standard when incorporated. For undated references, the latest edition of the
publication applies.
EN 292-1:1991, Safety of machinery, basic concepts, general principles for design — Part 1: Basic
terminology, methodology.
EN 292-2:1991/A1:1995, Safety of machinery, basic concepts, general principles for design — Part 2:
Technical principles and specifications.
prEN 894-1:1992, Safety of machinery, ergonomics requirements for the design of displays and control
actuators – Part 1: Human interactions with displays and control actuators.
prEN 894-2:1992, Safety of machinery, ergonomics requirements for the design of displays and control
actuators – Part 2: Displays.
prEN 894-3:1992, Safety of machinery, ergonomics requirements for the design of displays and control
actuators – Part 3: Control actuators.
EN 954-1:1996, Safety of machinery, safety related parts of control systems — Part 1: General principles for
design.
prEN 999:1995, Safety of machinery, the positioning of protective equipment in respect of approach speeds of
parts of the human body.
EN 1050:1996, Safety of machinery, principles for risk assessment
EN 60204-1:1992, Safety of machinery, electrical equipment of machines – Part 1: General requirements.
3 Definitions
For the purposes of this standard, the following definitions apply:
3.1
two-hand control device
a device which requires at least simultaneous actuation by the use of both hands in order to initiate and to
maintain, whilst a hazardous condition exists, any operation of a machine thus affording a measure of
protection only for the person who actuates it (see figure 1)
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Key
1 input signal
2 two-hand control device
3 control actuating device
4 signal converter(s)
5 signal processor(s)
6 output signal
7 logic unit
Figure 1 — Schematic representation of a two-hand control device

3.2
input signal
the externally actuated signal applied by hand to a control actuating device (see fig. 1)
3.3
control actuating device
a component of the two-hand control device which senses an input signal from one hand and transmits it to a
signal converter (see fig. 1)
3.4
simultaneous actuation
the continuing actuation of both control actuating devices during the same time period, whatever the time lag
is between the start of one input signal and the start of the other (see fig. 2)
NOTE In the English language the word "concurrent" and the word "simultaneous" are often used synonymously (e.g.
see clause 9.2.7 of EN 60204-1:1992).
3.5
synchronous actuation
a particular case of simultaneous actuation where the time lag between the start of one input signal and the
start of the other is less than or equal to 0,5 s (see fig. 3).
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3.6
signal converter
a component of the two-hand control device which receives an input signal from a control actuating device
and which transmits and/or converts this signal into a form acceptable to the signal processor (see fig. 1).
3.7
signal processor
a part of the two-hand control device which generates the output signal as a consequence of the two input
signals (see fig. 1).
3.8
output signal
the signal generated by the two-hand control device to be fed into the machinery to be controlled, and which is
based on one pair of input signals (see fig. 1).
3.9
response time
the time between the release of a control actuating device and the cessation of the output signal (see 9.8)
3.10
mobile two-hand control device
a device which can be moved and used in more than one definable position relative to the danger zone of the
machine which it controls
4 Types of two-hand control devices and their selection
Table 1 defines three types of two-hand control devices. It sets out the functional characteristics and the
minimum measures for the safety of each type of two-hand control device in this standard. All two-hand
control devices shall comply with EN 292 and the relevant parts of EN 60204-1.

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Table 1 — List of types of two-hand control devices and minimum safety requirements

REQUIREMENTS CLAUSE TYPES
I II III
A B C
Use of both 5.1 X X X X X
hands
(simultaneous
actuation)
Relationship 5.2 X X X X X
between input
signals and
output signal
Cessation of the 5.3 X X X X X
output signal
Prevention of 5.4 X X X X X
accidental
operation
Prevention of 5.5 X X X X X
defeat
Reinitiation of the 5.6 *) X X X X
output signal
Synchronous 5.7  X X X
actuation
Use of category 1 6.2 X X
(EN 954-1:1996)
Use of category 3 6.3 X X
(EN 954-1:1996)
Use of category 4 6.4   X
(EN 954-1:1996)
*) NOTE for the selection of Type I see 8.6.
The selection and the design of the type (see table 1) of two-hand control device will depend on:
 The hazard(s) present;
 The assessment of risk;
 Experience in use of technology;
 Other factors which shall be specified for each application (e.g. the prevention of accidental actuation and
of defeat (see 8), other conditions (see 3 of EN 292-2:1991)).
NOTE Guidance on risk assessment may be found in EN 292-1 and detailed guidance is given in EN 1050
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5 Characteristics of safety functions
The characteristics of safety functions described in 5.1 to 5.7 shall be included in two-hand control devices in
accordance with table 1.
5.1 Use of both hands (simultaneous actuation)
The two-hand control device shall be designed so that the operator shall use both hands during the same time
period, one hand on each control actuating device, to operate the two-hand control device. This is
simultaneous actuation and is independent of any time lag between the initiation of each of the two input
signals (see fig. 2).

Figure 2 — Input signals of simultaneous actuation
5.2 Relationship between input signals and output signal
The input signal applied to each of the two control actuating devices shall together initiate and maintain the
output signal from the two-hand control device only so long as both input signals are applied. The form of the
output signal (e.g. in number of channels, by pulse, shape etc.) may vary according to the design
requirements in each case. It shall always be regarded and shall be identified as a single output signal by the
machine control circuit.
5.3 Cessation of the output signal
The release of either one or both control actuating devices shall initiate the cessation of the output signal.
5.4 Prevention of accidental operation
The probability of operating the control actuating devices accidentally shall be minimised (see 8 and 9).
5.5 Prevention of defeat
The protective effect of the two-hand control device shall not be easily defeated (see 8 and 9).
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5.6 Reinitiation of the output signal
The reinitiation of the output signal shall only be possible after the release of both control actuating devices.
5.7 Synchronous actuation
5.7.1 An output signal shall be generated only when both control actuating devices are actuated in a time
lag which is less or equal to 0,5 s (see figure 3).

Figure 3 — Input signals of synchronous actuation
5.7.2 Mechanical two-hand control devices shall only generate an output signal by satisfying particular
spatial requirements for the travel of both of the control actuating devices.
5.7.3 If the control actuating devices are not actuated synchronously the output signal shall be prevented
and it shall be necessary to release both control actuating devices and to re-apply both input signals.
NOTE Where two or more two-hand control devices are used to operate one machine, synchronous actuation is
required only within each two-hand control device and is not required between devices.
6 Requirements related to categories of control
6.1 Category selection
The behaviour of parts of a two-hand control device in the case of failure shall be in accordance with the
selected category of EN 954-1:1996 (see table 2).
The category of control of two-hand control devices shall not be less than the category of control of the
relevant safety related part of the machine control system (see EN 954-1:1996).
Annex B describes the relationship between the types of two-hand control devices and the categories
according to EN 954-1:1996.
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6.2 Use of category 1
Well-tried safety components and safety principles in accordance with, at least, category 1 of EN 954-1:1996
shall be used in Type I and Type III A two-hand control devices.
NOTE In order to achieve high reliability and high availability it is recommended that well-tried safety components
and safety principles should be used in all types of two-hand control devices
6.3 Use of category 3
When the risk assessment indicates the requirement of single fault safety the two-hand control device of Type
II and Type III B shall comply with category 3 (EN 954-1:1996) and 6.3.1, 6.3.2 and 6.3.3.
6.3.1 The single fault in the two-hand control shall not lead to the loss of the safety function(s).
6.3.2 The two-hand control device shall not be converted into a one-hand control device as a consequence
of the one fault.
6.3.3 An output signal shall not be generated as a consequence of the one fault.
NOTE These requirements do not mean that all faults will be detected. Consequently the accumulation of undetected
faults may lead to the loss of the safety function and to an unintended output of the two-hand control device.
6.4 Use of category 4
When the risk assessment indicates the requirements of automatic-monitoring the two-hand control device of
Type III C shall comply with category 4 (EN 954-1:1996) and 6.3, 6.4.1, 6.4.2, 6.4.3.
6.4.1 The single fault shall be detected at or before the next operation of the safety function(s).
6.4.2 After an occurrence of a fault it shall not be possible to reinitiate an output signal.
6.4.3 An output signal being generated at the time of occurrence of the fault may continue, but shall cease
when either or both input signals are terminated. If a single fault cannot be detected then a combination of
faults shall not lead to a loss of the safety function(s).
7 Use of programmable electronic systems
Where a programmable electronic system (PES) is used to achieve the functional characteristics of a two-
hand control device, the safety requirements of the hardware and in the software of the PES shall be validated
in accordance with the risk assessment.
Secure means shall be provided for the software and the hardware of the PES to ensure that the designed
functional characteristics cannot be tampered with.
The output signal of a two-hand control device Type III B and Type III C shall not be generated and
transferred solely by a single channel PES to the machine control system.
NOTE There is still considerable development in the ways in which programmable electronic systems are being
validated and a list of documents which provide guidance in this subject area is given in Annex C.
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8 Prevention of accidental actuation and of defeat
8.1 Common consideration
The control actuating devices of a two-hand control device shall be designed and arranged in such a way that
the protective effect of the two-hand control device cannot be easily defeated and that the probability of
accidental actuation is minimized, in accordance with the risk assessment for the particular application.
This use of one hand alone, possible combinations of one hand and/or other parts of the body and/or the use
of simple aids which allow defeat shall be considered, so that it shall not be possible to reach into the danger
zone during a hazardous situation. Accidental actuation (e.g. by the clothes of the operator) shall be
considered in the same way.
Simple aids can be e.g. bridges, cords and tapes. The selection of dissimilar actuating directions, covers,
shapes etc. shall minimise the possibilities of defeat. The possibility of a two-hand control device being
operated by two persons thus leaving two hands free, can be overcome by using synchronous actuation.
NOTE Total protection from "defeat" is not possible
The subclauses 8.2 to 8.6 show some separate individual ways in which defeat is possible together with some
precautionary measures for prevention. The methods of defeat that shall be considered will depend on the
design of two-hand control device, the operating conditions, the method of attachment and positioning of the
two-hand control device and the specified safety distance requirements etc.
The subclause 8.7 shows some ways to prevent accidental actuation.
The precautionary measures listed may be required singly or in combination to meet this standard. The test
procedures which shall be applied to the most common types of design are set out in 10.5. For other designs
of two-hand control device these test procedures may or may not be applicable. In these cases a hazard
analysis and an assessment of risk of the possible use and/or misuse of that design of two-hand control
device shall be carried out and appropriate measures shall be taken to comply with this standard.
8.2 Prevention of defeat using one hand
Measures to prevent defeat by using one hand shall be provided. Examples of suitable measures are:
 Separation of the control actuating devices (inside dimension) by at least 260 mm;
 By the provision of one or more shields or an elevated area between the control actuating devices which
is (are) designed in such a way that the control actuating devices are separated by a distance of at least
260 mm around the shields.
8.3 Prevention of defeat using hand and elbow of the same arm
Measures to prevent defeat by using the hand and elbow of the same arm shall be provided. Examples of
suitable measures are:
 Separation of the control actuating devices by at least 550 mm inside dimension. For ergonomic reasons
this distance should not exceed 600 mm;
 By the provision of one or more shields or an elevated area between the control actuating devices which
is (are) designed in such a way that the control actuating devices cannot be touched by the elbow and the
tips of the fingers of the same arm at the same time;
 Covers designed in such a way that the control actuating devices cannot be operated by the elbow;
 Control actuating devices with different types and/or directions of operation.
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8.4 Prevention of defeat using the forearm(s) or elbow(s)
Measures to prevent defeat by using the forearm(s) and/or elbow(s) shall be provided, if the distance of the
hands from the hazard as a result of using forearm(s) and/or elbow(s) is smaller than the required safety
distance.
A suitable measure is using covers and/or collars which are designed so that the control actuating devices
cannot be operated by the forearm(s) and/or the elbow(s).
8.5 Prevention of defeat using one hand and any other part of the body (e.g. knee, hip)
Measures to prevent defeat by using other parts of the body in conjunction with one hand shall be provided.
Examples of suitable measures are:
 Arrangement of the control actuating devices on a horizontal or nearly horizontal surface which is at least
1100 mm above the floor or level of access. This is intended to prevent actuation by the hip;
 In the case of attachment to a vertical or near vertical surface by the provision of a protective collar
around the control actuating devices;
 Covers and/or shields which are designed in such a way that the control actuating devices cannot be
operated by one hand and any other part of the body.
8.6 Prevention of defeat by blocking one control actuating device
Measures to prevent defeat by blocking one actuating device shall be provided.
This method of defeat causes a two-hand control device to become a one-hand control and may cause a
permanent input signal from the blocked actuating device. This consequently may allow the output signal of
the two-hand control device to be generated by using only one hand. Suitable measures to prevent this
method of defeat are:
 To prevent reinitiation of the output signal for further operation by one hand, it shall be necessary to
include the characteristic of reinitiation in the design of the two-hand control device (see 5.6);
 To prevent the first start by one hand it shall be necessary to include the characteristic of synchronous
operation in the design of the two-hand control device (see 5.7).
NOTE Whenever the selection of a Type I two-hand control device is being considered it is important to carry out the
risk assessment carefully, to determine whether the characteristics of synchronous operation and of reinitiation can be
neglected
8.7 Accidental actuation
The probability of accidental actuation of a two-hand control device shall be minimised.
The measures given in 8.2 to 8.6 will help to minimise accidental actuation. Other suitable measures to
prevent accidental actuation are:
 For mechanical control actuating devices the need for deliberate actuation with respect to the force and
the travel required;
 For non-mechanical control actuating devices (e.g. photoelectric devices, capacitive devices) the need for
sensitivity levels which will only allow deliberate actuation.
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9 General requirements
9.1 Ergonomic requirements
There will sometimes be a conflict between good ergonomic principles (see prEN 894) and the design of a
two-hand control device in order to prevent defeat or accidental actuation (e.g. the size of openings and the
need to wear gloves at some operations).
Means and measures to achieve safety need to reflect the balance between
 The need to follow good ergonomic principles, and;
 The need to provide measures to prevent defeat and accidental actuation.
The balance shall provide adequate safety for the particular risk.
9.2 Operating conditions, environmental influences
The parts of a two-hand control device shall be selected, installed and linked together in such a way that they
withstand the operating stresses to be expected and fulfil the requirements of the relevant standards (e.g. with
regard to switching capacity, switching frequency) and the relevant standards dealing with the environmental
influences to be expected (e.g. vibration, impact, temperatu
...