diff --git a/add_devices.py b/add_devices.py
index 41043e3..e6a12a4 100644
--- a/add_devices.py
+++ b/add_devices.py
@@ -8,7 +8,7 @@ import re
 # -----------------------
 SCALE = 0.0254
 FIXED_Y = 2.4
-BUTTON_Y = 2.3
+BUTTON_Y = 2.2
 CONVEYOR_WIDTH = 1.524
 EDGE_CLEARANCE = 0.45
 BEAM_RANGE_ADJUSTMENT = 0.25
@@ -41,6 +41,7 @@ BUTTON_RES_ID = "auto_button"
 tpe_devices = []
 btn_devices = []
 ss_devices = []
+epc_devices = []
 
 with open(CSV_PATH, newline="", encoding="utf-8") as f:
     reader = csv.DictReader(f)
@@ -52,6 +53,8 @@ with open(CSV_PATH, newline="", encoding="utf-8") as f:
             btn_devices.append(row)
         elif rt == "SS":
             ss_devices.append(row)
+        elif rt == "EPC":
+            epc_devices.append(row)
 
 if not tpe_devices:
     raise RuntimeError("No TPE records found in CSV.")
@@ -74,6 +77,12 @@ for d in ss_devices:
     if key:
         ss_by_conveyor.setdefault(key, []).append(d)
 
+epc_by_conveyor = {}
+for d in epc_devices:
+    key = (d.get("conveyor_key") or "").strip()
+    if key:
+        epc_by_conveyor.setdefault(key, []).append(d)
+
 # -----------------------
 # SELECT SCENE
 # -----------------------
@@ -98,14 +107,16 @@ print("[1] All")
 print("[2] Sensors only")
 print("[3] Buttons only (S)")
 print("[4] SS only")
+print("[5] EPC only")
 
 device_choice = int(input("\nSelect option: "))
-if device_choice < 1 or device_choice > 4:
+if device_choice < 1 or device_choice > 5:
     raise RuntimeError("Invalid selection.")
 
 place_sensors = device_choice in (1, 2)
 place_buttons = device_choice in (1, 3)
 place_ss = device_choice in (1, 4)
+place_epc = device_choice in (1, 5)
 
 # -----------------------
 # READ SCENE
@@ -177,7 +188,7 @@ if place_sensors and SENSOR_SCENE_PATH not in scene_text:
         f'[ext_resource type="PackedScene" path="{SENSOR_SCENE_PATH}" id="{SENSOR_RES_ID}"]'
     )
 
-if (place_buttons or place_ss) and BUTTON_SCENE_PATH not in scene_text:
+if (place_buttons or place_ss or place_epc) and BUTTON_SCENE_PATH not in scene_text:
     idx = max(i for i, l in enumerate(lines) if l.startswith("[ext_resource"))
     lines.insert(idx + 1,
         f'[ext_resource type="PackedScene" path="{BUTTON_SCENE_PATH}" id="{BUTTON_RES_ID}"]'
@@ -510,6 +521,93 @@ if place_ss:
                 f'pushbutton_tag_name = "{station}_STPB_OIP"\n'
             )
 
+# -------- EPC DEVICES --------
+if place_epc:
+    for key in sorted(epc_by_conveyor.keys()):
+        devs = epc_by_conveyor[key]
+
+        if key not in conveyors:
+            print(f"⚠ Conveyor not found for EPC: {key}")
+            continue
+
+        info = conveyors[key]
+        xx, xz, zx, zz = info["basis"]
+        width = info["width"]
+
+        yaw = yaw_from_x_axis(xx, xz) if info["has_size"] else yaw_from_z_axis(zx, zz)
+
+        for i, d in enumerate(devs):
+            name = d.get("dev_name") or f"{key}_EPC{i+1}"
+
+            csv_x = float(d["dev_x"]) * SCALE
+            csv_z = -float(d["dev_y"]) * SCALE
+
+            # Same side logic as S buttons
+            x, z = project_to_conveyor(info, yaw, csv_x, csv_z)
+            side = side_of_conveyor(info, yaw, csv_x, csv_z)
+
+            side_sign = 1.0 if side >= 0 else -1.0
+
+            px = math.cos(yaw - math.pi / 2)
+            pz = math.sin(yaw - math.pi / 2)
+
+            EPC_CLEARANCE = 0.1
+            d_off = (width / 2) + EPC_CLEARANCE
+            x += px * d_off * side_sign
+            z += pz * d_off * side_sign
+
+            if side_sign >= 0:
+                base_yaw = yaw + math.pi
+            else:
+                base_yaw = yaw
+
+            # Spread along conveyor direction (like SS buttons do)
+            EPC_SPREAD = 0.35
+            fx = math.cos(yaw)
+            fz = math.sin(yaw)
+
+            c, s = math.cos(base_yaw), math.sin(base_yaw)
+
+            # -------- CH1 --------
+            ch1_name = f"{name}_CH1"
+            ch1_x = x + fx * (EPC_SPREAD / 2)
+            ch1_z = z + fz * (EPC_SPREAD / 2)
+
+            ch1_transform = (
+                f"Transform3D({c:.6f},0,{-s:.6f},0,1,0,{s:.6f},0,{c:.6f},"
+                f"{ch1_x:.6f},{BUTTON_Y:.6f},{ch1_z:.6f})"
+            )
+
+            node_blocks.append(
+                f'\n[node name="{ch1_name}" parent="." instance=ExtResource("{BUTTON_RES_ID}")]\n'
+                f"transform = {ch1_transform}\n"
+                f'text = "EPC"\n'
+                f"button_color = Color(1, 0.15, 0.15, 1)\n"
+                f"normally_closed = true\n"
+                f"enable_comms = true\n"
+                f'pushbutton_tag_name = "{name}_CH1_OIP"\n'
+            )
+
+            # -------- CH2 --------
+            ch2_name = f"{name}_CH2"
+            ch2_x = x - fx * (EPC_SPREAD / 2)
+            ch2_z = z - fz * (EPC_SPREAD / 2)
+
+            ch2_transform = (
+                f"Transform3D({c:.6f},0,{-s:.6f},0,1,0,{s:.6f},0,{c:.6f},"
+                f"{ch2_x:.6f},{BUTTON_Y:.6f},{ch2_z:.6f})"
+            )
+
+            node_blocks.append(
+                f'\n[node name="{ch2_name}" parent="." instance=ExtResource("{BUTTON_RES_ID}")]\n'
+                f"transform = {ch2_transform}\n"
+                f'text = "EPC"\n'
+                f"button_color = Color(1, 0.15, 0.15, 1)\n"
+                f"normally_closed = true\n"
+                f"enable_comms = true\n"
+                f'pushbutton_tag_name = "{name}_CH2_OIP"\n'
+            )
+
 
 scene_text += "".join(node_blocks)