Patent ID: 8026678

Claim:
A motor control device comprising: a plurality of operating units, each provided corresponding to each of a plurality of motors, to operate each of the plurality of motors; and a control unit that, each time each of a plurality of control cycles corresponding to each of the plurality of motors arrives in which each of the plurality of motors is operated, performs a setting operation and an acquisition operation for a number of times corresponding to a motor among the plurality of motors for which corresponding control cycles have arrived, and thereafter performs a registration operation, wherein the setting operation is an operation for setting a manipulated variable of the motor among the plurality of motors for which the corresponding control cycle has arrived, previously calculated based on a previously-acquired control variable of the motor to the perating unit among the plurality of operating units that operates the motor for which the corresponding control cycle has arrived, wherein the acquisition operation is an operation for acquiring a current control variable of the motor for which the corresponding control cycle has arrived, and wherein the registration operation is an operation for registering a manipulated variable calculation process task of the motor for which the corresponding control cycle has arrived into an execution waiting queue, wherein the manipulated variable calculation process task is a task for calculating a manipulated variable of the motor for which the corresponding control cycle has arrived based on the current control variable acquired by the acquisition operation.