本文介绍了在机器人系统中使用的电子位置开关(EPS)功能。EPS通过监测机器人关节的位置并利用I/O信号将这些信息传递给外部世界，从而实现被动安全保护。此功能不能直接停止机器人运动，而需要与安全继电器或可编程逻辑控制器(PLC)配合使用。
EPS
In robot system there's a connection to external safety devices, often a PLC in combination with door locks, light barriers or safety scanners that ensures the robot can be stopped in a safe way.
In robot system there's a connection to external safety devices, often a PLC in combination with door locks, light barriers or safety scanners that ensures the robot can be stopped in a safe way.
With the Electronic Position Switch feature, EPS, the IRC5 controller can monitor where the robot is and communicate this information to the outside world using a set of I/O signals. You define ranges for the robot joints, and the EPS monitors the robot to see if it is inside or outside the ranges.
The EPS cannot stop the robot; it is a passive safety system that always needs to be connected to safety relays or a safety PLC.
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