Teaching device and control information generation method

A teaching device capable of teaching not only movement work but also more detailed working content. The teaching device is provided with input section for inputting work information such as work of pinching workpieces which is carried out by a robot arm at a working position. When carrying out motion capture by moving jig (an object which mimics the robot arm) which is provided with marker section, a user manipulate input section at an appropriate timing to input the working content to be performed by the robot arm as work information, and thus it is possible to set fine working content of the robot arm in teaching device. Accordingly, teaching device is capable of linking positional information of jig and the like and work information generating control information for controlling the robot arm.