Robot system and a method for monitoring a robot system

A system comprising:

• a robotic arm comprising joints connecting a base and a tool flange;
• a controller configured to control operation of the robotic arm, the controller being configured to execute one or more operation cycles, wherein executing each operation cycle comprises executing a respective operation process associated with operation of at least part of the robotic arm;
• a peripheral device communicatively connected to the controller;
• and
• digital storage storing an operation signal history;
• wherein the operation signal history comprises one or more operation representations, the one or more operation representations being based on operation of the system;
• wherein the controller is configured to record a peripheral signal associated with a communication between the peripheral device and the controller to obtain a peripheral signal representation that is based on execution of an operation process of the one or more operation cycles;
• and
• wherein the controller is configured to update the operation signal history by storing the peripheral signal representation in the digital storage as an operation representation.