Control system for controlling a robot comprising several movable robot axes (A1-An), particularly for a painting, sealing, glueing, mounting or handling robot in a paint installation for motor vehicle body parts, with a) a central robot controller for controlling the robot according to a predetermined control program, b) several drive controllers (AR1-ARn) for controlling the individual movable robot axes (A1-An), wherein each of the drive controllers (AR1-ARn) is associated to one of the robot axes (A1-An), c) several transducers (G1-Gn), wherein each of the drive controllers (AR1-ARn) is associated to one of the transducers (G1-Gn) which detects the axis position of the robot axis (A1-An) controlled by the drive controller (AR1-ARn), d) a data connection between the central robot controller and the individual drive controllers (AR1-ARn) for transmission of control commands from the robot controller to the individual drive controllers (AR1-ARn), and e) a monitoring unit in at least one of the drive controllers, wherein e1) the monitoring unit arranged in the one drive controller performs a collision control in order to avoid a collision of the robot with spatial boundaries or persons, and e2) the monitoring unit arranged in the one drive controller determines the axis position of the associated robot axis by the associated transducer, characterized in that f) the data connection also allows a data transmission between the monitoring unit in the one drive controller and the other drive controllers (AR2-ARn) in order to transmit axis positions of the individual robot axes (A1-An) from the individual drive controllers (AR2-ARn) to the drive controller with the monitoring unit, g) the monitoring unit in the one drive controller requests the axis position of the other robot axes (A2-An) via the data connection from the other drive controllers (AR-ARn) in the associated transducers (G2-Gn), h) the monitoring unit in the one drive controller determines the robot position of the robot from the axis positions of the individual robot axes (A1-An) by a transformation calculation, and i) the robot position is represented by the spatial position of at least one reference point on the robot. a) a central robot controller for controlling the robot according to a predetermined control program, b) several drive controllers (AR1-ARn) for controlling the individual movable robot axes (A1-An), wherein each of the drive controllers (AR1-ARn) is associated to one of the robot axes (A1-An), c) several transducers (G1-Gn), wherein each of the drive controllers (AR1-ARn) is associated to one of the transducers (G1-Gn) which detects the axis position of the robot axis (A1-An) controlled by the drive controller (AR1-ARn), d) a data connection between the central robot controller and the individual drive controllers (AR1-ARn) for transmission of control commands from the robot controller to the individual drive controllers (AR1-ARn), and e) a monitoring unit in at least one of the drive controllers, wherein e1) the monitoring unit arranged in the one drive controller performs a collision control in order to avoid a collision of the robot with spatial boundaries or persons, and e2) the monitoring unit arranged in the one drive controller determines the axis position of the associated robot axis by the associated transducer, characterized in that e1) the monitoring unit arranged in the one drive controller performs a collision control in order to avoid a collision of the robot with spatial boundaries or persons, and e2) the monitoring unit arranged in the one drive controller determines the axis position of the associated robot axis by the associated transducer, f) the data connection also allows a data transmission between the monitoring unit in the one drive controller and the other drive controllers (AR2-ARn) in order to transmit axis positions of the individual robot axes (A1-An) from the individual drive controllers (AR2-ARn) to the drive controller with the monitoring unit, g) the monitoring unit in the one drive controller requests the axis position of the other robot axes (A2-An) via the data connection from the other drive controllers (AR-ARn) in the associated transducers (G2-Gn), h) the monitoring unit in the one drive controller determines the robot position of the robot from the axis positions of the individual robot axes (A1-An) by a transformation calculation, and i) the robot position is represented by the spatial position of at least one reference point on the robot.