I am quite new to collaborative robotics and I am getting up to speed with TS15066.   I appreciate that I must risk assess the application to determine what controls are necessary.  Reading the risk assessment requirements, this is appears to be quite a substantial risk assessment.  From design of workspace, tooling, forces, moments, collaborative zones, transient and quasi static forces etc..  

I was hoping someone could share an example of one they completed previously. Thanks.

I think there is an ISO 12100:2011-3 that suggests the procedure of risk assessment as we conduct it on our applications. 

The template from Robotiq is a good starting point, but don't get distracted by the examples contained therein that refer to collision risks only.
You also need to consider basic things such as trip hazards from cabling, instable robot assembly, sharp edges in the workspace, appropriate signage etc. etc.
We check for risks in categories such as mechanic hazards, electric hazards, ergonomic hazards, environmental hazards. For other machines there are more categories, but for HRC applications that's it mostly.
Also, we normally go through the "life cycle" of the application from installation through (re-)programming, regular operation, maintenance and see what tasks have to be conducted in interaction with the robot per phase and what hazards can occur per phase. 

When we define measures to tackle the hazards identified, we think of design measures (e.g. re-arranging the workspace or implementing passive safety elements), technical measures (e.g. limiting the robot force - technical measures can only be implemented through devices that are SIL-compliant), and organizational measures (e.g. having the operators wear safety shoes). 

Hope that helps a bit with designing your own risk assessment tool and sheets.

The Company I work for has a form that we downloaded from RIA. A very good source of information. Take all aspects of the work environment into consideration, even strange stuff that might only happen on a blue moon. Never can have too many items

I do agree that 2 or three people are best. Having a committee of 12 invites the strange ideas.