To lead a work retaining means to an exact position and place a work on an aligner, cassette or the like even if the position of the work retaining means optimum to the work placed on a closed cassette or the like is difficult to grasp while watching it.

In this teaching method for robot 1, a work is set to a prescribed retaining position 6, the work set to the prescribed retaining position is retained by a work retaining means 4, and is set to a work dislocation detection means 13. The dislocation amount of the work retaining means 4 is detected by the work dislocation detection means 13, and teaching is conducted as the correcting point of the retaining position by the work retaining means 4 for the dislocation amount of the work dislocation detection means 13.