Patent ID: 8059998

Claim:
An image forming device comprising: a first rotary member; a first motor arranged to rotate the first rotary member by a torque on a shaft of the first rotary member; a second rotary member located to influence the torque on the shaft of the first rotary member; a second motor arranged to rotate the second rotary member; a first motor driving unit arranged to drive the first motor; a second motor driving unit arranged to drive the second motor; a torque command value detecting unit configured to detect a torque command value which is output from the first motor driving unit to the first motor; a storing unit configured to store a lower limit of the torque command value; a judgment unit configured to determine whether the torque command value detected by the torque command value detecting unit exceeds the lower limit; and a drive control unit configured to control driving of the second motor driving unit based on a result of the determination of the judgment unit.