PURPOSE:To reduce the burden of a teaching work and to improve the work efficiency by operating the angular difference in the work surface vector direction of a reference point and the work surface slope line vector direction at a present contact point, operating similarly again in case of the value thereof being less than a set angle and storing the present contact point as a new reference point in case of exceeding the set angle. CONSTITUTION:In case of the direction angular difference a in the work surface vector N0 of an initial reference P0 and the work surface vector Nm of a contact point Pm exceeding a set angle only by moving a work tool 3 along a work locus, a teaching point Pm-1 and Pm or the teaching point Pm are automatically formed to store teaching data. So that, the need for teaching an aiming position by the visual sense of a man is eliminated, nor the need for a storing operation as well and the labor of an operator can remarkably be reduced. Also, the contact point between the initial reference point P0 and the last contact point Pm-1 not exceeding the set angle by the directional angular difference a of the work surface slope line vector N0 thereof is not taken as the teaching point, so the teaching data can be minimized.
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