Whether or not a guard is used (sounds like it should be) I would also consider a sticker like this:
http://www.sitewaredirect.com.au/saf...0-x-180mm.html for the times where the guard is removed for service/tightening/tuning, etc.
Consider the scenario where the someone stumbles on some tool on the floor of the pit, and uses their hand against the robot to stop from falling, just as the robot is enabled (with a software bug that causes the chain to move without input) or just as someone is activating the controller to test the component. I've seen close calls that match this scenario with unguarded elements.
Also, don't take the advice here to mean: "We better get a guard on this before bagging so that we don't have trouble with the inspector" Take it to mean: we better get a guard on this ASAP, because there is a real risk any time we hit the bot's main power switch.
As an inspector, I often tell my teams of sharp corners/edges that won't pass inspection, but all too often I have to follow up with the fact that it needs to be addressed nearly immediately because I don't want any more hand scrapes/cuts for me or others on the team during build season.