server is : Jenkins ver. 2.40 ubuntu 16.04 x64
slave is :Jenkins ver. 2.40 windows 7 x64

Windows 7 Jenkins and Jenkins Slave can be run.

[2017-01-12 17:02:57] [windows-slaves] Connecting to 192.168.2.117
Checking if Java exists
java -version returned 1.6.0.
[2017-01-12 17:03:00] [windows-slaves] Copying jenkins-slave.xml
[2017-01-12 17:03:00] [windows-slaves] Copying slave.jar
[2017-01-12 17:03:00] [windows-slaves] Starting the service
ERROR: Unexpected error in launching an agent. This is probably a bug in Jenkins
java.lang.reflect.UndeclaredThrowableException
at com.sun.proxy.$Proxy69.start(Unknown Source)
at hudson.os.windows.ManagedWindowsServiceLauncher.launch(ManagedWindowsServiceLauncher.java:340)
at hudson.slaves.SlaveComputer$1.call(SlaveComputer.java:261)
at jenkins.util.ContextResettingExecutorService$2.call(ContextResettingExecutorService.java:46)
at java.util.concurrent.FutureTask.run(FutureTask.java:266)
at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142)
at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617)
at java.lang.Thread.run(Thread.java:745)
Caused by: java.lang.reflect.InvocationTargetException
at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
at java.lang.reflect.Method.invoke(Method.java:498)
at org.kohsuke.jinterop.JInteropInvocationHandler.invoke(JInteropInvocationHandler.java:140)
... 8 more
Caused by: org.jinterop.dcom.common.JIException: Service Already Running
at org.jvnet.hudson.wmi.Win32Service$Implementation.start(Win32Service.java:149)
... 13 more