I think you would benefit from speaking to your H and S representative on site and carry out a risk assessment of the cell to include discussions and also thorough understanding of what the different modes of the robot can provide.
If it is already company policy though, it's already been decided, if not, then now is the right time to approach the subject.
Don't forget there are also other control measures that can be put in place, such as fortress exchange keys, safety mats, floor scanners to reduce the hazards within the cell, which may also satisfy your risk assessment to permit manual motion whilst the door is open.
And absolutely agree with pdl and Lemster68 , you need to take this into account during your risk assessment to decide on the safest, practical configuration to adopt.