PURPOSE: To automatically generate the work sequence including the error judging function by setting the decision criteria on whether errors occur or not for each unit action of a robot during work teaching in a work teaching device teaching the work to the industrial robot, for example.

CONSTITUTION: This work teaching device for a robot is provided with a means 11 generating the decision criteria of action errors for a robot in response to the detected results of the position and force of the robot during the trial of the taught work and a means 12 generating the work sequence including the error judging function for the work to be implemented based on the output of the means 11 and the teaching information on the work to be implemented.