Teach pendant and robot system provided with the same

A teach pendant including an input unit and allowing teaching of operation of a robot by an input to the input unit, the teach pendant comprising:

• a plurality of measurement reference protrusions which come into contact with a measured surface of the robot;
• a tilt sensor whose position is fixed with respect to the plurality of measurement reference protrusions;
• and
• a teach pendant controller,
• wherein the teach pendant controller is configured to output a detection value of the tilt sensor or data based on the detection value to a control device of the robot in a state where the plurality of measurement reference protrusions are in contact with the measured surface and when a predetermined input is performed on the input unit or a contact detection sensor for detecting the contact between the plurality of measurement reference protrusions and the measured surface detects the contact.