A robot system comprises:
- a robot (1) having a control unit (14) and a movable structure (2) to which an end effector (13) can be associated;
- a portable programming terminal (20) in data communication with the control unit (14), including a manually actuatable enabling device to enable manual control of displacements of the movable structure (2) of the robot (1); and
- a manual guide device (30), provided with means for coupling thereof to at least one of the movable structure (2) and the end effector (13) of the robot (1). The manual guide device (30) has wireless communication means to set up a wireless communication channel for communication with the portable terminal (20), the communication means comprising a first transceiver module on the manual guide device and a second transceiver module on the portable terminal.
