Lately we've developed some more tooling on and around the UR. Usually when we use a custom made end of arm tool (EOAT) we run the cables over the arm back to the controller and connect them to the regular I/O's. However, I've noticed the Tool Communication Interface (TCI) option in the e-series. I've scoured through the manuals, but other than how to enable it and set the parameters through the dropdown menu's I haven't found anything.Has someone used the TCI before to control a custom made EOAT, and is willing to share some knowledge? Or is there a tutorial for it, which I can follow? Any info would help!