Thanks so much for responses!
Unfortunately, we don't have RobotStudio available at our workplace (only few selected in our company do). Same goes for Production Monitoring, the IRC5s are probably too old and do not have this feature (RobotWare 5.15).
As for the sampling task, it is actually a very good idea, but I'm kinda worried about CPU impact. Sure, this task could be stopped in normal production, but when running, wouldn't it create error by itself? I mean, if there are not enough resources to execute instructions, wouldn't it for example affect corner paths (or in the worst case scenario all movements) in other tasks and thus influence results? Lowering the sampling frequency could solve that, but it will also decerase precision.