Robot system, method for controlling robot system, method for manufacturing product using robot system, control program, and recording medium

A robot system comprising:

• a robot body;
• a plurality of first control devices provided in the robot body;
• a second control device configured to communicate with the plurality of first control devices;
• a first communication medium configured to enable the plurality of first control devices to communicate with the second control device;
• and
• a second communication medium configured to enable the plurality of first control devices to communicate with the second control device,
• wherein the second control device selectively operates in one of a first mode and a second mode,
• wherein in the first mode, the second control device communicates with a part of the plurality of first control devices not using the second communication medium and using the first communication medium, and the second control device communicates with the rest of the plurality of first control devices not using the first communication medium and using the second communication medium,
• wherein in the second mode, the second control device transmits information to all the plurality of first control devices using both the first communication medium and second communication medium,
• wherein the robot body includes a first detection unit configured to acquire a state of the robot body and a second detection unit different from the first detection unit,
• wherein the plurality of first control devices transmit a first detection result of the first detection unit and a second detection result of the second detection unit to the second control device,
• wherein when communicating in the first mode, the second control device switches to the second mode on a basis of a comparison result of the first detection result and the second detection result,
• wherein a first control device among the plurality of first control devices divides one of the first detection result and the second detection result and transmits the divided results to the second control device in different periods, and
• wherein the first control device divides one of the first detection result and the second detection result into a first bit group, a second bit group, a third bit group, and a fourth bit group.