Robot System

A robot system comprising:

• a robot arm including a first arm, a second arm, a first position detecting section configured to detect a position of the first arm, and a second position detecting section configured to detect a position of the second arm;
• a driving control section configured to control driving of the robot arm based on position information output by the first position detecting section and the second position detecting section;
• a monitoring section configured to determine, based on the position information, whether an operation of the robot arm is normal;
• a first communication line for coupling the driving control section and the first position detecting section and coupling the driving control section and the second position detecting section to perform half duplex communication;
• and
• a second communication line for coupling the monitoring section and the driving control section, coupling the monitoring section and the first position detecting section, coupling the monitoring section and the second position detecting section to perform the half duplex communication, wherein
• the driving control section performs first communication with the first position detecting section via the first communication line and second communication with the second position detecting section via the second communication line in a temporally overlapping manner.