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The legal basis for the ATR.1 certificate is the customs union between EU and Turkey.
The certificate is NOT an origin certificate (not in any way implied by the author), which the certificate is often referred to. The certificate proves that the product or products are put in "free circulation", meaning that they have gone through the import procedure, paid any applicable tariff in either EU or Turkey and can be traded between those two countries under the customs union.
Not all products are covered by the customs union. Coal and steel, and some agricultural products are not covered by the customs union, these products are instead covered by the Free Trade Agreement between EU and Turkey.