# US 2019/0129391 A1 · Slave device, master device, and industrial network system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0129391 A1 - Document ID: US20190129391A1 - Status: Published application - Kind: A1 - Application number: 16/127,255 - Filed: 2018-09-11 - Published: 2019-05-02 - Earliest claimed: 2017-10-26 - Assignees: OMRON Corporation - Applicants: OMRON Corporation - Inventors: Ziqiang XU; Junji SHIMAMURA; Hirohito MIZUMOTO - Web page: https://patentgrep.com/patent/US20190129391A1 ## CPC - B25J 15/04: with provision for the remote detachment or exchange of the head or parts thereof - G05B 19/41845: {characterised by system universality, reconfigurability, modularity} - B25J 3/04: involving servo mechanisms (servo-actuated heads B25J15/02) - B25J 9/16: Program controls (total factory control, i.e. centrally controlling a plurality of machines, G05B19/418) - B25J 15/0483: {with head identification means} - G05B 19/4185: {characterised by the network communication} - G05B 19/0426: {Programming the control sequence} - G05B 2219/39055: Correction of end effector attachment, calculated from model and real position - G05B 2219/39468: Changeable hand, tool, code carrier, detector - 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}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract To reduce the working hours of a user in an operation and improve an operation rate in an industrial network system. A communication setting change part is provided which automatically changes, in a timing of an end effector replacement, the communication setting in a communication part according to the communication information that corresponds to an end effector. ## Claims ### Claim 1 A slave device, which is related to an end effector replacement in which an end effector before replacement is removed from the slave device and an end effector after replacement is mounted on the slave device, comprising: a communication part, which communicates with the end effector after replacement mounted on the slave device after the end effector replacement; a storage part, which stores, with regard to each of a plurality of attachable end effectors that are attachable to the slave device, communication information related to a communication form between the slave device and the attachable end effector; and a communication setting change part, which automatically changes the communication setting in the communication part according to the communication information which corresponds to the end effector after replacement in a timing of the end effector replacement when the end effector after replacement is one of the plurality of attachable end effectors. ### Claim 2 (depends on 1) The slave device according to claim 1, wherein the communication setting change part changes the communication setting in the communication part concurrently with the movement of the slave device conducted during the end effector replacement. ### Claim 3 (depends on 1) The slave device according to claim 1, wherein when one predetermined command is received from a host device, the end effector replacement and the change of communication setting in the communication part done by the communication setting change part are performed collectively. ### Claim 4 (depends on 1) The slave device according to claim 1, further comprising a priority control part which controls priority of tasks in the communication setting change part, and when the time for the communication setting change part to change the communication setting in the communication part is longer than the time required for the movement of the slave device conducted in the end effector replacement, the priority control part raises the priority of the tasks in the communication setting change part. ### Claim 5 (depends on 1) The slave device according to claim 1, wherein when the end effector after replacement is not one of the plurality of attachable end effectors, in the timing of the end effector replacement, the communication setting change part automatically and sequentially changes the communication setting in the communication part according to the communication information related to each of the plurality of attachable end effectors, until the communication part is communicable with the end effector after replacement. ### Claim 6 (depends on 1) A master device, which sends an instruction of performing the end effector replacement to the slave device according to claim 1. ### Claim 7 (depends on 1) An industrial network system, comprising: the slave device according to claim 1; and a master device which sends an instruction of performing the end effector replacement to the slave device. ### Claim 8 (depends on 2) The slave device according to claim 2, wherein when one predetermined command is received from a host device, the end effector replacement and the change of communication setting in the communication part done by the communication setting change part are performed collectively. ### Claim 9 (depends on 2) The slave device according to claim 2, further comprising a priority control part which controls priority of tasks in the communication setting change part, and when the time for the communication setting change part to change the communication setting in the communication part is longer than the time required for the movement of the slave device conducted in the end effector replacement, the priority control part raises the priority of the tasks in the communication setting change part. ### Claim 10 (depends on 3) The slave device according to claim 3, further comprising a priority control part which controls priority of tasks in the communication setting change part, and when the time for the communication setting change part to change the communication setting in the communication part is longer than the time required for the movement of the slave device conducted in the end effector replacement, the priority control part raises the priority of the tasks in the communication setting change part. ### Claim 11 (depends on 2) The slave device according to claim 2, wherein when the end effector after replacement is not one of the plurality of attachable end effectors, in the timing of the end effector replacement, the communication setting change part automatically and sequentially changes the communication setting in the communication part according to the communication information related to each of the plurality of attachable end effectors, until the communication part is communicable with the end effector after replacement. ### Claim 12 (depends on 3) The slave device according to claim 3, wherein when the end effector after replacement is not one of the plurality of attachable end effectors, in the timing of the end effector replacement, the communication setting change part automatically and sequentially changes the communication setting in the communication part according to the communication information related to each of the plurality of attachable end effectors, until the communication part is communicable with the end effector after replacement. ### Claim 13 (depends on 4) The slave device according to claim 4, wherein when the end effector after replacement is not one of the plurality of attachable end effectors, in the timing of the end effector replacement, the communication setting change part automatically and sequentially changes the communication setting in the communication part according to the communication information related to each of the plurality of attachable end effectors, until the communication part is communicable with the end effector after replacement.