FR5 vacuum tooling: move the generator off the wrist?

The hose gets a route on my drawing, not a note saying 'hose to suit'. Otherwise it turns up at the end and goes wherever there's room.

I'd mock up the whole travel with a hose before committing to the bracket. A tidy home position can hide an awkward bend at the far end.

Yes. I also want grip confirmation and timeout behaviour defined at the tool, not an assumption that switching the supply on means a box is attached.

ah, so moving the pump isn't a free payload upgrade. You're moving a design problem as well.