To prevent a large shock when an actuator to move a working apparatus reaches an end of a workable range in the reverse direction regenerative action in which the teaching content is regenerated in the reverse direction, and improve the workability by smoothing the action of the actuator.

A regenerative action control unit 66 outputs the information on the action of cylinders 22, 31 stored in a storage unit 65 to a regulation control unit 63 in the order reverse to the advancing order of the information on the action according to the operation of an reverse direction regenerative action switch 56. The regulation control unit 63 implements the shockless control to the inputted information on the action when the cylinders 22, 31 are expanded in an area in the vicinity of the full expansion, or contracted when they are in an area in the vicinity of the full contraction. In addition, the regulation control unit 63 makes a correction of removing the effect of the regulating of the working speed during the teaching from the inputted information on the action when the cylinders 22, 31 are contracted in an area in the vicinity of the full expansion, or expanded when they are in an area in the vicinity of the full contraction.