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

@NoahAllen0281 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

@NoahAllen0281 A larger arm should give you more mounting freedom, so that could be the easiest route to investigate.

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

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?

@HazelBrooks0832 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. Include the required entry direction and withdrawal conditions, not just an end pose. A reachable point can still have no usable approach with the proposed tool.

@CallumBrown0882 For our machine, withdrawal with a held workpiece needed a different route from entry. The empty-tool model made the clearance look much better than it was.

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

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.

@HazelAli0223 Machine ready means safe to enter, doesn't it? The sales wording makes them sound alike.

@HazelBrooks0832 A process-ready signal isn't automatically a safety function. The qualified cell assessor needs to define protective measures and restart requirements separately from the production sequence.

Can we trial representative fixture geometry while the interface scope is still open? I'd like to move the access question along