To enable a device to perform teach work in a short time, also to obtain a high accurate trajectory, and so that a life can be extended.

This teach device has a robot 1 having an articulated manipulator, control device 13 connected to a first/third drive unit 3,7 and a wrist drive unit through a cable 14 to perform action control of the robot 1 and each kind of control at teach action time, and a teaching pendant 16 operated by an operator at teach action time or the like to have a plurality of keys. In the control device 13, based on a plurality of previously taught teach points, and of a plurality of the teach points, to a point with a prescribed distance apart from a specific teach point, a value representing the prescribed distance, a data of a trajectory having a curve part is generated.