Abstract: A toroidal continuously variable transmission including a power roller; a support supporting the power roller rotatably; a thrust bearing receiving a load of the power roller in a direction along a rotating axis; and an oil passage supplying lubricating oil to the thrust bearing. A surface of the power roller opposing the support includes a first bearing grooved and the support opposing the power roller includes a second bearing groove. A virtual axis of a discharge port in the oil passage reaches a bearing groove that is one of the first bearing groove and the second bearing groove. Viewed from a direction perpendicular to the rotation axis, a portion of a retainer located at a radially inner side of a retaining hole of the retainer and a portion located at a radially inner side of the bearing groove are located at sides opposite to each other across the virtual axis.

Abstract: A robot system includes a robot main body, memory part configured to store information for causing robot main body to perform given operation, as saved operational information, motion controller configured to control operation of robot main body by using saved operational information as automatic operational information for causing robot main body to operate, and an operation correcting device configured to generate, by being operated, manipulating information for correcting operation of robot main body during operation. Motion controller controls robot main body to perform an operation corrected from operation related to automatic operational information in response to a reception of the manipulating information while robot main body is operating by using automatic operational information. Memory part is configured to be storable of corrected operational information for causing robot main body to perform corrected operation as saved operational information, when robot main body performs corrected operation.