Generally, fall protection systems are required when any surface is raised above 4 feet and limit free fall distance to no more than 6 feet.
Systems must limit the initial arresting force on the falling employee to not more than 2,000 pounds (8.9 kN), with a duration not exceeding 2 milliseconds and any subsequent arresting forces to not more than 1,000 pounds (4.5 kN).
If the system can stop a fall of personnel of a combined tool and body weight of 350 pounds before reaching 3.5 feet, then the system is considered OSHA compliant.
More specific guidelines can be found here.