Hi, we have developed a palletizing application, which works as follows: we have two wrapping machines with pallets where the robot places products. When one pallet is filled, the robot switches to the other, and the first one starts wrapping. The cobot is a UR 10e, the cartons weigh about 1.2 kg, and the pallet is approximately 2.7 meters high (9 layers). The cobot is mounted on a two-meter vertical Festo drive. The blue square is the pickpoint, the yellow squares are the pallets on the wrapping machines, and the arrows indicate the direction of pallet entry and exit. The wrapping machines have a function to rotate/wrap every few layers. We conducted a risk analysis and were advised to install fencing, either full with access doors or partial with safety curtains at the pallet entry points. Do you have any experience with securing such setups (besides the cobot’s safety functions like speed and torque adjustments or safety walls)? In addition to the emergency stop on the electrical cabinet, we have a safety frame on the gripper extending a few centimeters beyond the gripper’s outline. What else could be used to eliminate the need for fencing? Maybe someone has more experience with creating collaborative workstations.
Problem is your 7th axis isn’t safe. If it has any pinch points, you won’t ever truly be collaborative. this is typically why you avoid the 7th axis in these applications. This is also the main reason why the UR20 exists. I have been part of an application that used an airskin pad on the base of the 7th to eliminate a pinch point. a combination of that and a slow enough speed was enough to satisfy the major risks.
I do not believe the wrappers are safe, either, when they’re started remotely, are they?
You will have to install some proper safety as far as I can tell.
For example two laser scanners that check the sides and front. Or two physical walls on the side and a laser scanner or light curtain in the front.
There are many solutions, but you will need something.
It’s fairly simple to set up a single laser scanner/light curtain in the UR with a reset button. You won’t need any external safety controller for this. 
When it comes to the 7th axis, I planned to use a safety bumper that will disconnect the safety system when pressed.
I would like to avoid using lasers and curtains due to the response time and the space they will occupy. A single laser/curtain doesn’t suit me because the workstation can be accessed from all sides, not just one. Besides the curtain or scanner, I also need muting so that when removing a full pallet, the entire system doesn’t disconnect.
I still don’t believe it’s safe to have a remotely controlled wrapper. It will have to be stopped when people go near it in my opinion.
You could maybe contact the manufacturer of the wrapper and ask them, if the wrapper is safe for operation in this situation.
Alternatively you could set up a 3D camera (like SICK’s) above the wrappers, and check if anyone/-thing is in its proximity while it runs.
We have used these before. But it will require the wrappers to stop when something is near.
As for the wrapping machine, the topic is somewhat simplified because the manufacturer, at my request, included a point in the operating instructions stating directly that:
‘The XXXXXX wrapping machine can operate with the UR Cobot in automatic mode without additional safeguards. However, the XXXX company (manufacturer of the wrapping machine) is not responsible for the operation of the UR Cobot’s safety system.’
According to the wrapping machine manufacturer, the machine is safe (the film unwinding is secured with a guard equipped with a limit switch, and the carriage moving up/down also has a safety switch at the bottom. Additionally, we also have emergency stop buttons).
Obviously we have EC delaration of Confirmity too.
Then there shouldn’t be any issues, as far as I can tell from your explanation. Just make sure the robot doesn’t move very fast, since it will be operating in the height of the operator’s head, which is an area you have to be careful not to exert a lot of force to.
You can read more about this in the ISO/TS 15066.
Maybe it would be a good idea to install some kind of safety monitoring that puts the robot in reduced mode, when people are near it afterall? This is possible through the Safety IO.
Either use laser scanners or 3D cameras (as mentioned earlier).
Providing you can safeguard the 7th axis, you should be good for probably 600-700 mm/s speed if your tool is safe and your boxes are so light. You should be able to assume some risk if you can put up a safety railing around the back and sides just so people can’t walk through the area easily. a combination of that and good signage and ppe requirements I think you should be fine.
What country is this being installed?