Automatic teaching method for robot and robot control device

The invention provides an automatic teaching method of a robot and a robot control device, which can reduce errors included in teaching results when a teaching jig is used to automatically teach a workbench position of the robot. A cylindrical portion (42) of a teaching jig (40) is detected in a non-contact manner using a straight-through beam sensor (25) provided on a hand (14), and first coordinates, which are coordinates of a jig center (O) of the teaching jig, are calculated as coordinates of a table position (C). Next, the teaching jig is picked up by the hand and loaded at a predetermined position of the hand, the hand is moved to the first coordinate after being pulled back to the work area, and the teaching jig is removed from the hand to the table (51). Then, a second coordinate, which is the coordinate of the jig center of the teaching jig removed from the table, is obtained using a straight-through beam sensor (25), and the difference between the first coordinate and the second coordinate is detect