3.3.1 Tool flange connection point

Connect the tool to the connection port of the tool flange at the tip of the collaborative robot.

Figure 15 Tool flange connection point

No	Description
	EtherCAT connection port (T4031017041-000 (TE)): for EtherCAT communication
	Tool I/O connection port (T4131012121-000 (TE)): for controlling tool motion
	Air outlet (YL012, YL015): Pneumatic hoses (ø3.2, 2) are connected and used for the movement of the tools.