Robot system and robot

A robot system comprising:

• a multi-joint robot arm including a plurality of joints;
• a robot controller configured or programmed to control movement of the multi-joint robot arm;
• an interactor configured to interact with a workpiece;
• a signal output configured to output a moving amount signal at an end of each fixed time period, the moving amount signal being based on a moving amount of the workpiece or the interactor arranged on a distal end part of the multi-joint robot arm during a respective fixed time period;
• and
• an interaction controller configured or programmed to control interaction of the interactor with the workpiece based on the moving amount signal output by the signal output, wherein
• the signal output outputs the moving amount signal as pulse signals, a number of pulses in each fixed time period corresponding to the moving amount detected within a respective fixed time period.