Teaching device, teaching method, and recording medium

A teaching method comprising:

• a display step of displaying a first icon showing a first attitude that is a state where an angle formed by a first arm and a second arm rotatably coupled to the first arm of the robot arm is a first angle, a second icon showing a second attitude that is a state where the angle formed by the first arm and the second arm of the robot arm is a second angle that is different from the first angle, and a first operation unit accepting an operation of designating a third attitude that is a state where the angle formed by the first arm and the second arm of the robot arm is a third angle equal to or greater than the first angle and equal to or smaller than the second angle;
• and
• an operation program generation step of accepting information about the third attitude designated at the first operation unit, and generating an operation program for executing an operation of a robot having the robot arm, based on the information about the third attitude that is accepted.

A recording medium storing a teaching program, the teaching program causing a processor to execute:

• processing of displaying a first icon showing a first attitude that is a state where an angle formed by a first arm and a second arm rotatably coupled to the first arm of the robot arm is a first angle, a second icon showing a second attitude that is a state where the angle formed by the first arm and the second arm of the robot arm is a second angle that is different from the first angle, and a first operation unit accepting an operation of designating a third attitude that is a state where the angle formed by the first arm and the second arm of the robot arm is a third angle equal to or greater than the first angle and equal to or smaller than the second angle;
• and
• processing of accepting information about the third attitude designated at the first operation unit, and generating an operation program for executing an operation of a robot having the robot arm, based on the information about the third attitude that is accepted.