A motor control device (4, 40) for driving a motor having an encoder that detects an operation of the motor, the motor control device (4, 40) comprising: a motor control unit configured to generate a command value to drive the motor according to a predetermined feedback scheme so that the operation of the motor follows an operation command signal for driving the motor on the basis of the operation command signal and a feedback signal from the encoder corresponding to the operation of the motor; a drive unit configured to supply a drive current for driving the motor to the motor according to the command value from the motor control unit; an interruption unit configured to interrupt transfer of a drive signal accompanying the command value from the motor control unit to the drive unit; and a safety control unit configured to execute an interrupting process of the drive signal via the interruption unit when a determination is made that a failure has occurred in driving of the motor, wherein the safety control unit is configured to execute the interrupting process of the drive signal in the interruption unit on the basis of a result of comparing a predetermined feedback value that is calculated with the feedback signal from the encoder with a control calculation value that is calculated in a process in which the motor control unit generates the command value and is comparable with the predetermined feedback value, wherein the safety control unit is configured to determine whether or not to execute the interrupting process on the basis of a difference between the predetermined feedback value and the control calculation value in the interrupting process, the motor control device (4, 40) being characterized in that the control calculation value is calculated by the motor control unit, the encoder is configured to generate two independent feedback signals in response to the operation of the motor, and the safety control unit is configured to compare each of the two predetermined feedback values calculated from the two feedback signals with the control calculation value and to compare the two predetermined feedback values to execute the interrupting process of the drive signal in the interrupting process. a motor control unit configured to generate a command value to drive the motor according to a predetermined feedback scheme so that the operation of the motor follows an operation command signal for driving the motor on the basis of the operation command signal and a feedback signal from the encoder corresponding to the operation of the motor; a drive unit configured to supply a drive current for driving the motor to the motor according to the command value from the motor control unit; an interruption unit configured to interrupt transfer of a drive signal accompanying the command value from the motor control unit to the drive unit; and a safety control unit configured to execute an interrupting process of the drive signal via the interruption unit when a determination is made that a failure has occurred in driving of the motor, wherein the safety control unit is configured to execute the interrupting process of the drive signal in the interruption unit on the basis of a result of comparing a predetermined feedback value that is calculated with the feedback signal from the encoder with a control calculation value that is calculated in a process in which the motor control unit generates the command value and is comparable with the predetermined feedback value, wherein the safety control unit is configured to determine whether or not to execute the interrupting process on the basis of a difference between the predetermined feedback value and the control calculation value in the interrupting process, the motor control device (4, 40) being characterized in that the control calculation value is calculated by the motor control unit, the encoder is configured to generate two independent feedback signals in response to the operation of the motor, and the safety control unit is configured to compare each of the two predetermined feedback values calculated from the two feedback signals with the control calculation value and to compare the two predetermined feedback values to execute the interrupting process of the drive signal in the interrupting process.