Abstract: The invention relates to a robot system comprising: a robot arm, a robot controller configured to execute a robot control In process based on a robot control software program and an auxiliary control process based on an auxiliary control software program; and a peripheral device communicatively connected to the 5 robot controller. Execution of the robot control process is performed by the robot controller resulting in operation of the robot arm. Execution of the auxiliary control process is performed by the robot controller resulting in establishing of a logic signal based on an application input signal received from the robot control process or the peripheral device. The auxiliary control process is configured to 10 establish a logic output signal based on the logic signal and, based on the logic output signal, configured to control operation of any of the robot control process and the peripheral device.

Abstract: The invention relates to a method for monitoring a robot system comprising a robot arm and a peripheral device, the method comprising the steps of: providing a communicative peripheral connection between the peripheral device and a robot controller; establishing an operation signal history in a digital storage wherein the operation signal history is based on operation representations; executing a robot operation process on the robot controller; establishing a peripheral signal associated with the peripheral connection; recording the peripheral signal to obtain a peripheral signal representation; updating the operation signal history by providing the peripheral signal representation as an operation representation of the operation representations; and tracking operation of the robot system based on the operation signal history. The invention further relates to a robot system.