Electronic Position Switches,

EPS
© Robotics - 1 -
01-10-24
 Part of a New Generation Robot Safety
 Software and electronics based safety
 Supported by new standards and regulations
© Robotics - 2
 Replacing Mechanical Solutions
Yesterday Today
Position swiches, axis 1

No mechanical switches
No floor cables

Position switches, axis 2

Position switches, axis 3 Electronic Position Switches

© Robotics - 3
 Adding Benefits
 Increased flexibility
 All robot axes can be monitored
 previous mechanical solution only covers axes 1 or 1-3, depending on robot type
 Five safe outputs available, each can represent a single axis or an arbitrary combination
of axes
 Maintenance free
 No equipment located in harsh robot environment
 Faster commissioning
 Software configuration instead of mechanical adjustments
 Status readable from RAPID
 Useful in program logic
 More compact robot design
 No space needs to be allocated
for cams and switches

 In short – Saving money!

© Robotics - 4
 EPS Board
EPS Board

CPU A

Set point
CPU B
Safety-PLC or
relay logic

Actual position

Certified according to cat 3, SIL2

(ISO 13849-1)

Concept according to cat 4, SIL3

(ISO 13849-1)
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UL certified
 Integration

 Electronic box placed under

the axis computer
 No cabling outside cabinet
 Except outputs to cell safety
logic as connected by integrator
 MultiMove enabled
 One EPS per robot (where it is
wanted – not mandatory on all
robots)
Achsrechner
EPS / SafeMove
Einheit
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 Synchronization Switch

 A synch switch is always needed

 External reference for safety board, independent from
measurement system
 Check after power on
 Repeated check during production (typically every 24 h)
- requirement in safety regulations
 One channel switch needed for Cat 3
 Board is prepared for two channel switch (Cat 4)
 Switch can be integrated with other equipment, e.g. tip
dresser for optimizing layout and cycle time
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 Example 1: Dual Loading Station Cell
 Two EPS outputs used to monitor axis 1 position
 Light curtains detect operator entry into loading station
 Signals from EPS and light curtains interlocked through safety relay logic or
safety PLC (provided by integrator)
 If robot leaves safe zone while operator is present, the relays will stop
operation through Auto Stop (IRC5 panel board)
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 Safety Builder in RobotStudioOnline

 Wizard for setting up EPS

 Arbitrary range can be set for each axis
 Any robot axis can be included in the
set-up for each of the five outputs
 Only authorized “Safety User” can
affect configuration
 Configuration is sealed and transferred
to safety controller
 Activation with PIN code
 Only valid on the correct robot
 Printing of Safety Certificate
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 Summary, EPS Benefits

 Maintenance free
 Superior flexibility
 Fast and easy commissioning
 Status available for use in RAPID
 More compact robot designs
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 Next Step

 EPS is the first step in

ABB Robotics‘ new
generation robot safety,
SafeMove
 Functionality enabling
further optimization of cell
design and promoting
human–robot cooperation,
to be expected!
© Robotics - 13
 Topology
Teach Pendant Robot 1-4

EPS Board

Ethernet

Robot Program Path Planner

Interfac Axis
e computer

Control Module
Drive
system
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Drive Module