# US 10,245,722 B2 · Robot system comprising a robot and two devices that can be connected to said robot in an alternating manner, and method for changing said devices > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,245,722 B2 - Document ID: US10245722B2 - Status: Granted - Kind: B2 - Application number: 13/885,293 - Filed: 2011-10-31 - Published: 2013-10-17 - Granted: 2019-04-02 - Earliest claimed: 2010-11-24 - Assignees: KUKA Deutschland GmbH - Applicants: Ovidiu Zurbau - Inventors: Ovidiu Zurbau - Web page: https://patentgrep.com/patent/US10245722B2 ## CPC - B25J 9/16: Program controls (total factory control, i.e. centrally controlling a plurality of machines, G05B19/418) - H04L 61/103: across network layers, e.g. resolution of network layer into physical layer addresses or address resolution protocol [ARP] - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - H04L: TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION (arrangements common to telegraphic and telephonic communication H04M) ## Abstract The invention relates to a method for changing devices (W1, D1; W2, D2) which are connected to a robot (R) and which communicate with a robot application (APP), having the following steps: S2: detecting a disconnection of a communication with a first device (W1, D1); S3: removing an address entry (“MAC1/IP1”) for the first device from a communication index (ARP); S4: establishing communication with a second device (W2, D2); and S5: generating an address entry (“MAC2/IP1”) for the second device in the communication index. ## Claims ### Claim 1 A method for exchanging systems connected to a robot, which communicate with a robot application, the method comprising: removing a first system from an arm of the robot and connecting a second system to the arm of the robot, the first and second systems being selectively, alternately attachable to the arm of the robot; detecting an interruption in a communication with the first system; removing an address entry for the first system from a communication directory; establishing communication with the second system; and creating an address entry for the second system in the communication directory. ### Claim 2 (depends on 1) The method according to claim 1, wherein the communication occurs via a PROFINET network. ### Claim 3 (depends on 1) The method according to claim 1, wherein the establishment of the communication with the second system occurs in a fast start-up, in particular a Fast Start Up. ### Claim 4 (depends on 3) The method according to claim 3, wherein the establishment of the communication with the second system occurs within a maximum of 0.75 seconds. ### Claim 5 (depends on 1) The method according to claim 1, wherein the address entry for the first system is removed from the communication directory before the communication with the second system has been established. ### Claim 6 (depends on 1) The method according to claim 1, further comprising: detecting a system exchange command from the robot application. ### Claim 7 (depends on 6) The method according to claim 6, wherein the address entry for the first system is removed from the communication directory when a system exchange command from the robot application and the interruption in communication with the first system have been detected. ### Claim 8 (depends on 1) The method according to claim 1, wherein the first and second systems exhibit different specific identifiers and identical communication identifiers. ### Claim 9 (depends on 1) The method according to claim 1, further comprising: configuring the communication and the first and second system in advance. ### Claim 10 A robot system, comprising: at least one robot, at least two systems that can be alternately mechanically connected to an arm of the robot, a robot application, a communication means, and a computer comprising a storage medium including program code that, when executed by the computer, causes the computer to: detect an interruption in a communication with a first system when the first system is removed from the arm of the robot; remove an address entry for the first system from a communication directory; establish communication with a second system when the second system is connected to the arm of the robot; and create an address entry for the second system in the communication directory. ### Claim 11 A computer program product having programming code stored on a non-transitory machine readable data medium, the programming code configured to, when executed by a computer, cause the computer to: detect an interruption in a communication with a first system that is selectively attachable to an arm of a robot when the first system is removed from the arm of the robot; remove an address entry for the first system from a communication directory; establish communication with a second system that is selectively attachable to the arm of the robot when the second system is connected to the arm of the robot; and create an address entry for the second system in the communication directory. ### Claim 12 (depends on 2) The method according to claim 2, wherein THE PROFINET network is a PROFINET 10 network. ### Claim 13 (depends on 4) The method according to claim 4, wherein the establishment of the communication with the second system occurs within a maximum of 0.55 seconds.