This part of ISO 9409 defines the main dimensions, designation and marking for a shaft with cylindrical projection as mechanical interfaces. It is intended to ensure the exchangeability and to keep the orientation of hand-mounted end effectors. This part of ISO 9409 does not contain any correlation of load-carrying ranges. The mechanical interfaces specified in this part of ISO 9409 will also find application in simple handling systems which are not covered by the definition of manipulating industrial robots, such as pick-and -place or master-slave units.