Checked them. The approach clips the handle; the workpiece clears. No wonder my first sketch looked so reassuring.

Use that measured layout to review the complete approach and retreat offline. Include the tool, cables and service access, then ask the integrator to assess a revised mounting arrangement.

The buyer has suggested choosing a larger arm. I'm unsure whether that would address the access issue or simply increase our purchase while leaving the obstruction unresolved.

@ThomasChen1147 Going larger should open up mounting options. It might be the most straightforward option to explore.

Bigger could bring another obstruction. Extra reach won't shrink the gripper past that handle.

@MiaAli0209 You're right; more mounting freedom isn't guaranteed. Check each candidate in the measured layout and only favour a larger arm if its full approach works better.

@VictorAdams0098 On our separate machine job, the first pedestal position blocked a maintenance panel. The transfer looked excellent until the maintenance person asked how they'd open it.

Checked ours. The suggested pedestal overlaps a panel opening too. More red pen for the drawing.

@ThomasChen1147 Would making the pedestal removable address service access, or would restoring its position introduce a further setup requirement to evaluate?

A removable base adds relocation and installation checks to the work. Have the integrator weigh that against keeping normal service access clear in the layout.

Our fixture needs straight entry. Put that constraint in before moving the base around?

Yes, model the entry direction and retreat requirements as constraints. Reaching the final point doesn't establish that the full tool can approach it usefully.

@VictorAdams0098 Our unloading retreat differed from loading because the held workpiece changed the envelope. Modelling the empty gripper alone gave us a very flattering answer.

@AaronArcher0349 I'll include empty and loaded tool outlines. We also need to agree who owns the machine signals; that part of the quote is vague.

@ThomasChen1147 Name whoever owns the interface work. Otherwise the robot and machine contacts can both think the other has covered fixture state and permission to enter.

The handle overlap gives us something concrete to fix. No assessed layout yet, so Fairino FR5 stays on the shortlist.

@ThomasChen1147 Having a specific access issue to resolve is progress; it doesn't require choosing the arm yet.