A direct teaching unit enabling an operator to teach an industrial robot a working point safely, comprising a teaching tool including a force detector, and a working tool or a special handle fixed to the force detector and gripped by an operator for guiding; a means for calculating a position or a speed instruction on the basis of the information from the force detector and a motion model; a means for calculating the torque generated by a motor adapted to drive a robot on the basis of the position and speed instruction; and a means for limiting the generated torque.
