By researching on the transmission characteristics of hydraulic torque forklifts, a control device which achieved its inching function was developed. Through detected position of the operation handle, using Delta programmable logic controller (PLC) to control stepper motor driven lead screw movement, the control of rotational speed of the engine was achieved. By modifying the control parameters via touchscreen onsite commissioning, the forklift at idle operation was achieved, through the manipulation of the handle, smooth and stable plane movement, lift or tilt operation were enabled. Thereby operation of the forklift is made more convenient, and the operators labor intensity is reduced, which has a very high value in market applications.