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

@EmmaArcher0376 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.

Our buyer says go bigger. Does that help, or just buy the same problem in a larger arm?

@EmmaArcher0376 A larger arm should give you more mounting freedom, so that could be the easiest route to investigate.

A different arm geometry may introduce its own clearance problems. Increasing reach doesn't establish that the proposed tool can pass the existing handle obstruction.

Yes, I made that sound more certain than it's. Compare candidate geometry in the measured layout; a larger arm is only useful if the complete approach improves.

@CallumBrown0882 We had a different machine application where a good transfer layout put the pedestal across a service panel. Maintenance spotted the catch immediately.

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

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

Restoring location and checking the installation would become part of that proposal. Ask the integrator to compare it with a layout that preserves routine service access.

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

@EmmaArcher0376 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.

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

I'll add both loaded and empty tooling to the model. The other unclear part of our quote is responsibility for the machine signals.

@EmmaArcher0376 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.

I still can't establish a usable approach for the complete tool. Purchase is on hold until access is settled.

@EmmaArcher0376 Holding the purchase makes sense while the complete-tool approach remains unproven.