One possibility for force control is parallel force/position control. The control is designed as a cascade control and has an external force control loop and an internal position control loop. As shown in the following figure, a corresponding infeed correction is calculated from the difference between the nominal and actual force. This infeed correction is offset against the position command values, whereby in the case of the fusion of X s o l l and X k o r r , the position command of force control ( X k o r r )has a higher priority, i.e. a position error is tolerated in favor of the correct force control. The offset value is the input variable for the inner position control loop.