A motor control device (4; 104) which controls rotation of a motor (2; 102) to which a controlled object (1; 101) is connected through a link mechanism, the motor control device (4; 104) comprising: a parameter input device configured to input parameters necessary for controlling the motor (2; 102) including information about operation start and end positions in a reciprocating motion of the object (1; 101) to be controlled, information about a maximum rotation speed of the motor (2; 102), addition amount information of a rotation speed, and subtraction amount information of the rotation speed; a position detection device (21; 121) configured to detect a position of the object (1; 101) to be controlled; and a driving control device (42; 142) which is configured, when the object (1; 101) to be controlled is operated from the operation start position to the operation end position, to calculate one deceleration start position from the information about the operation start and end positions, to perform an addition operation on a target rotation speed based on a difference between a maximum rotation speed and the rotation speed at a current time point and the addition amount information, to drive the motor (2; 102) while accelerating the motor (2; 102) so that the motor (2; 102) rotates at the target rotation speed until the position detection device (21; 121) detects that the object (1; 101) to be controlled has reached the deceleration start position, to perform a subtraction operation on the target rotation speed based on the difference between the maximum rotation speed and the rotation speed at the current time point and the subtraction amount information at a point in time at which it is detected that the object (1; 101) to be controlled has reached the deceleration start position, and to drive the motor (2; 102) while decelerating the motor (2; 102) so that the motor (2; 102) rotates at the target rotation speed until the position detection device (21; 121) detects that the object (1; 101) to be controlled has reached the operation end position. a parameter input device configured to input parameters necessary for controlling the motor (2; 102) including information about operation start and end positions in a reciprocating motion of the object (1; 101) to be controlled, information about a maximum rotation speed of the motor (2; 102), addition amount information of a rotation speed, and subtraction amount information of the rotation speed; a position detection device (21; 121) configured to detect a position of the object (1; 101) to be controlled; and a driving control device (42; 142) which is configured, when the object (1; 101) to be controlled is operated from the operation start position to the operation end position, to calculate one deceleration start position from the information about the operation start and end positions, to perform an addition operation on a target rotation speed based on a difference between a maximum rotation speed and the rotation speed at a current time point and the addition amount information, to drive the motor (2; 102) while accelerating the motor (2; 102) so that the motor (2; 102) rotates at the target rotation speed until the position detection device (21; 121) detects that the object (1; 101) to be controlled has reached the deceleration start position, to perform a subtraction operation on the target rotation speed based on the difference between the maximum rotation speed and the rotation speed at the current time point and the subtraction amount information at a point in time at which it is detected that the object (1; 101) to be controlled has reached the deceleration start position, and to drive the motor (2; 102) while decelerating the motor (2; 102) so that the motor (2; 102) rotates at the target rotation speed until the position detection device (21; 121) detects that the object (1; 101) to be controlled has reached the operation end position.