> For the complete documentation index, see [llms.txt](https://hyundai-robotics.gitbook.io/hi6-s-controller-maintenance-manual/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://hyundai-robotics.gitbook.io/hi6-s-controller-maintenance-manual/cm-english/1-safety/1-14-end-effector-safety-related/2-tool-workpieces.md).

# 1.14.2 Tools/Workpieces

* It should be possible to safely change tools such as a milling cutter. Until the cutter stops rotating, the safety devices should surely perform proper functions.
* The tool should be designed in a way that the workpiece will not have any abnormality even when a sudden power failure or control failure occurs. In manual operation, it should be possible to separate the workpiece.