A robot system comprising: a robot having a base, a movable unit provided movably relative to the base, and a force detection unit that is arranged to detect a force applied to the movable unit; and a control unit that is arranged to control the movable unit according to the force detected by the force detection unit in teaching of the robot, wherein when a first condition that a time in which magnitude of a first detection force detected by the force detection unit is larger than a first force threshold value continued for a time longer than zero and shorter than a first time threshold value is satisfied in the teaching, the control unit is arranged to move the movable unit by a predetermined amount in a direction according to a direction of the first detection force, and when a second condition that magnitude of a second detection force detected by the force detection unit is larger than a second force threshold value that is larger than the first force threshold value is satisfied during the movement of the movable unit, the control unit is arranged to decelerate or stop the movable unit, characterized in that when a third condition that a time in which the magnitude of the first detection force is larger than a third force threshold value that is smaller than the first force threshold value continued for a duration longer than a second time threshold value is satisfied in the teaching, the control unit is arranged to repeatedly execute the movement of the movable unit in the predetermined amount in the direction according to the direction of the first detection force during the duration, wherein the control unit is arranged to repeatedly determine whether or not the first condition or the third condition is satisfied in a first period in the teaching and repeatedly determines whether or not the second condition is satisfied in a second period during the movement of the movable unit, and the first period is longer than the second period. a robot having a base, a movable unit provided movably relative to the base, and a force detection unit that is arranged to detect a force applied to the movable unit; and a control unit that is arranged to control the movable unit according to the force detected by the force detection unit in teaching of the robot, wherein when a first condition that a time in which magnitude of a first detection force detected by the force detection unit is larger than a first force threshold value continued for a time longer than zero and shorter than a first time threshold value is satisfied in the teaching, the control unit is arranged to move the movable unit by a predetermined amount in a direction according to a direction of the first detection force, and when a second condition that magnitude of a second detection force detected by the force detection unit is larger than a second force threshold value that is larger than the first force threshold value is satisfied during the movement of the movable unit, the control unit is arranged to decelerate or stop the movable unit, characterized in that when a third condition that a time in which the magnitude of the first detection force is larger than a third force threshold value that is smaller than the first force threshold value continued for a duration longer than a second time threshold value is satisfied in the teaching, the control unit is arranged to repeatedly execute the movement of the movable unit in the predetermined amount in the direction according to the direction of the first detection force during the duration, the control unit is arranged to repeatedly determine whether or not the first condition or the third condition is satisfied in a first period in the teaching and repeatedly determines whether or not the second condition is satisfied in a second period during the movement of the movable unit, and the first period is longer than the second period.