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Condition monitoring of industrial robots has the potential to decrease downtimes in highly automated production systems. In this context, we propose a new method to evaluate health indicators for this application and suggest a new health indicator (HI) based on vibration data measurements, Short-time Fourier transform and Z-scores. By executing the method, we find that the proposed health indicator can detect varying faults better, has lower temperature sensitivity and works better in instationary velocity regimes compared to several state-of-the-art HIs. A discussion of the validity of the results concludes our contribution.