摘要 |
For a torque control device that drives a torque control shaft in synchronism with a main control shaft while applying, through the torque control shaft, a predetermined pushing force to a workpiece driven by the main control shaft, a torque control device is obtained which can prevent a positional deviation from being generated even when the main control shaft is moved. The maximum and minimum values of the mechanical parameter representing the mechanical property of the driver driven by the torque control shaft are stored, and either the maximum or minimum mechanical parameter value stored in a memory means is selected according to the main control shaft's driving state, whereby drive torque necessary for following up the main control shaft's driving can be calculated so as to cause the pushing force to be augmented. |