A motor control device, for carrying out safety control over a motor according to an output permission signal allowing torque output to the motor received through a network, the motor control device comprising: a first interface, connectable to the network; and a control element, connected to the first interface and configured to control the motor, the control element comprising: a connection determining element, configured to determine whether a connection between the first interface and the network is required based on specific conditions and to determine whether the first interface receives the output permission signal through the network from a safety unit, the specific conditions include an existence of a user confirmation related to whether the connection is required, an existence of a relation between the connection and a power source of the motor control device or conversion of a connecting state of the network; a signal generating element, capable of generating a safety command for performing the safety control of the motor based on whether the output permission signal is received as well as a determining result of the connection determining element; and a safety drive element, configured to carry out safety control over the motor when acquiring the safety command generated by the signal generating element, wherein the safety command is generated by the signal generating element when the output permission signal is not received and the connection determining element determines that the connection is required, and the safety command is not generated by the signal generating element when the output permission signal is not received and the connection determining element determines that the connection is not required. a first interface, connectable to the network; and a control element, connected to the first interface and configured to control the motor, the control element comprising: a connection determining element, configured to determine whether a connection between the first interface and the network is required based on specific conditions and to determine whether the first interface receives the output permission signal through the network from a safety unit, the specific conditions include an existence of a user confirmation related to whether the connection is required, an existence of a relation between the connection and a power source of the motor control device or conversion of a connecting state of the network; a signal generating element, capable of generating a safety command for performing the safety control of the motor based on whether the output permission signal is received as well as a determining result of the connection determining element; and a safety drive element, configured to carry out safety control over the motor when acquiring the safety command generated by the signal generating element, a connection determining element, configured to determine whether a connection between the first interface and the network is required based on specific conditions and to determine whether the first interface receives the output permission signal through the network from a safety unit, the specific conditions include an existence of a user confirmation related to whether the connection is required, an existence of a relation between the connection and a power source of the motor control device or conversion of a connecting state of the network; a signal generating element, capable of generating a safety command for performing the safety control of the motor based on whether the output permission signal is received as well as a determining result of the connection determining element; and a safety drive element, configured to carry out safety control over the motor when acquiring the safety command generated by the signal generating element, wherein the safety command is generated by the signal generating element when the output permission signal is not received and the connection determining element determines that the connection is required, and the safety command is not generated by the signal generating element when the output permission signal is not received and the connection determining element determines that the connection is not required.