This paper presents the application of a novel projection-based safety system for ensuring hard safety in human-robot collaboration. We adapted the proposed sensor system to incorporate the joint positions of a collaborative robot, thus offering the opportunity to establish minimal and well-shaped safety spaces around the robot at any time. In this contribution we explain in detail main challenges and their solutions for generating and monitoring such safety spaces. Furthermore, we build up a collaborative workplace and evaluate the sensor system concerning its behavior and detection capabilities under operational conditions.