A controller includes a storage unit that stores a configuration file in which a tool coordinate system including a coordinate axis extending in the restriction direction of a movement of a hand is set. The controller includes a determination unit that determines whether or not the origin of the tool coordinate system moves in the direction of the coordinate axis extending in the restriction direction. The controller includes a speed limiting unit that limits the motion speed of the robot. The speed limiting unit performs a speed reduction control for reducing the movement speed of the hand or a stop control for stopping the robot if the origin of the tool coordinate system moves in the direction of the coordinate axis extending in the restriction direction.