I finished setting up the ZA6 at the fabrication space I work in (The Design Innovation Lab at Wendt at the University of Wisconsin-Madison)! First, I modeled the entire area in CAD to determine the correct safety area for the arm.
Then I could set up the light curtains for easy take down and set up using tape on the floor. I used a laser pointer so that I could visualize the alignment easily:
Now it has plenty of space when it is operating and can be easily put away when not in use. Here it is:
