Patent ID: 8878479

Claim:
A motor control device provided to an electrically-powered mechanism which includes a motor, is connected to a mechanical load for applying a mechanical physical quantity, which is any one of a force and a pressure, to a subject, and applies the mechanical physical quantity to the subject, by power of the motor, by displacing the mechanical load to press the mechanical load against the subject, the motor control device comprising a motor control device main unit for acquiring, as an acquired physical quantity value, a value of the mechanical physical quantity acting from the mechanical load to the subject due to the mechanical load being displaced to press the mechanical load against the subject, generating a physical quantity command value used to control the acquired physical quantity value to attain a physical quantity target value set in advance, and controlling drive of the motor by using the acquired physical quantity value and the physical quantity command value, wherein the motor control device main unit comprises: means for storing, in advance, information on an elastic constant of the subject and information on a maximum speed of the motor; and means for generating the physical quantity command value so that a derivative of the physical quantity command value is equal to or less than a product of the elastic constant of the subject and the maximum speed of the motor.