Here’s the flange for the robot Here’s the flange for the robot. Note colors for locations of pins on interface plate. Red - Control Pin Blue - Other Pins Orange - Force Spring Applicator

Red and Blue pins can be magnetic for use in axis 2 measurements. Here’s the new interface plate. Colors match previous picture. All are 10 mm high now, which is also the depth of control pin hole. This is the most shallow hole in the flange. Red and Blue pins can be magnetic for use in axis 2 measurements. Red - Control Pin Blue - Other Pins Orange - Force Spring Applicator

This is an overhead view of the flange and interface plate together This is an overhead view of the flange and interface plate together. Colours are the same again. Blue pins locate the interface plate to the plane of the flange and the red pin constrains rotation. The orange device is a pre-load applicator to hold the plate in. Interface plate Light gray circles are features on the tool flange. Two black circles are edges of flange and interface plate. Flange Red - Control Pin Blue - Other Pins Orange - Force Spring Applicator