To provide a control device of a robot having an arm which causes the arm to be stopped more easily than conventionally by generating a load of appropriate magnitude to an operator during lead-through. The present invention relates to a control device of a robot having an arm, the control device including: a motor that generates torque in each axis of the robot; a torque generation control unit that controls the motor so as to generate a canceling torque which cancels friction of each axis of the robot when controlling the robot by external force tracking; and a torque changing unit that changes the canceling torque to a reference value or less.