In order to attain the object to enable a teacher to easily carry out teaching with enhanced safety of the teacher who is to teach an action to a robot, a robot includes a force sensor, an arm part, and an end effector fixed to the arm part via the force sensor. A control device includes one or more processors that execute a moving process for causing the end effector to move and a generation process for generating, with reference to a detection value from the force sensor, teaching information corresponding to a travel route of the end effector.