A robot system capable of reproducing a situation at the time of alarm occurrence, said robot system comprising: a robot; and a visual sensor connected to said robot through a data transmitting means and for measuring one or both of a position and an orientation of an object in accordance with a command from said robot and transmitting a measurement result to said robot, said robot comprising: a means for sending, upon occurrence of a predefined alarm in said robot in operation, a notification of the alarm occurrence, and an operating condition of said robot at the time of alarm occurrence as robot history information, to said visual sensor; a means for receiving the robot history information from the visual sensor; and a means for reproducing the operating condition of said robot at the time of alarm occurrence using the received robot history information, and said visual sensor comprising: an accumulation means for accumulating measurement processing information obtained by measurement; a recording means for recording, upon receipt of the notification of the alarm occurrence and the robot history information from said robot, the robot history information, while selecting measurement processing information associated with the robot operation at the time of alarm occurrence from the measurement processing information accumulated in said accumulation means and recording the selected measurement processing information as sensor history information; a means for sending the robot history information recorded in the recording means to said robot; and a means for reproducing a processing process of said visual sensor using the sensor history information. a robot; and a visual sensor connected to said robot through a data transmitting means and for measuring one or both of a position and an orientation of an object in accordance with a command from said robot and transmitting a measurement result to said robot, said robot comprising: a means for sending, upon occurrence of a predefined alarm in said robot in operation, a notification of the alarm occurrence, and an operating condition of said robot at the time of alarm occurrence as robot history information, to said visual sensor; a means for receiving the robot history information from the visual sensor; and a means for reproducing the operating condition of said robot at the time of alarm occurrence using the received robot history information, and said visual sensor comprising: an accumulation means for accumulating measurement processing information obtained by measurement; a recording means for recording, upon receipt of the notification of the alarm occurrence and the robot history information from said robot, the robot history information, while selecting measurement processing information associated with the robot operation at the time of alarm occurrence from the measurement processing information accumulated in said accumulation means and recording the selected measurement processing information as sensor history information; a means for sending the robot history information recorded in the recording means to said robot; and a means for reproducing a processing process of said visual sensor using the sensor history information. a means for sending, upon occurrence of a predefined alarm in said robot in operation, a notification of the alarm occurrence, and an operating condition of said robot at the time of alarm occurrence as robot history information, to said visual sensor; a means for receiving the robot history information from the visual sensor; and a means for reproducing the operating condition of said robot at the time of alarm occurrence using the received robot history information, and said visual sensor comprising: an accumulation means for accumulating measurement processing information obtained by measurement; a recording means for recording, upon receipt of the notification of the alarm occurrence and the robot history information from said robot, the robot history information, while selecting measurement processing information associated with the robot operation at the time of alarm occurrence from the measurement processing information accumulated in said accumulation means and recording the selected measurement processing information as sensor history information; a means for sending the robot history information recorded in the recording means to said robot; and a means for reproducing a processing process of said visual sensor using the sensor history information. an accumulation means for accumulating measurement processing information obtained by measurement; a recording means for recording, upon receipt of the notification of the alarm occurrence and the robot history information from said robot, the robot history information, while selecting measurement processing information associated with the robot operation at the time of alarm occurrence from the measurement processing information accumulated in said accumulation means and recording the selected measurement processing information as sensor history information; a means for sending the robot history information recorded in the recording means to said robot; and a means for reproducing a processing process of said visual sensor using the sensor history information.