Can the FR5 withdraw with the jaws open?

Only the closed outline is shown; I had assumed the wider outline on another sheet was the open position, but it belongs to a different tool.

Then you can't choose the arm from that sheet.

Agreed; I have requested both jaw positions and the actual door hardware, which was useful to have identified before our review.

Include the block while it's still held. That's another outline.

And the fingers below it. We forgot those once, expensive little drawing omission.

Who supplies the fingers here?

Our toolmaker supplies the fingers, and their latest drawing adds a heel behind each jaw that the integration drawing does not contain.

Send that drawing to whoever owns the layout. Otherwise you're all checking different grippers and agreeing very efficiently.

Has anyone checked where the wrist goes after the block is seated?

We placed a full-size mock-up through the opening with the machine isolated; the open jaw heel overlaps the handle during a straight withdrawal.

Useful failure. Does the proposed tool allow another withdrawal direction?

Don't infer the arm can make that alternative turn from a hand-held mock-up; ours needed a wrist orientation the joint layout couldn't provide.

The toolmaker is investigating shorter heels, while the integrator checks the complete movement; we have not selected a different arm.

Shorter heels could change the grip, so let the toolmaker own that bit too.

Yes, they are reviewing gripping as part of that revision; the current proposal remains on hold.

Please post the revised clearance when it comes. Interested whether the handle survives the argument.