Patent ID: 8736211

Claim:
A motor control device for controlling a motor for driving a mechanical load, based on a detection information signal input from a detector that is connected to the motor, the motor control device comprising: a command status determination unit for outputting, as a command status signal, a result of determining a status of a command signal, including information indicating presence or absence of a command speed in the command signal, the command signal output from a controller which outputs a control command to the motor; a follow-up control unit for receiving the detection information signal and the command signal to output, to the motor, a torque command signal for driving the motor and output a control status of the motor as a control status amount signal; a stopping-state response determination unit for receiving the command status signal and the control status amount signal to output, as a stopping-state response status signal, a result of determining a response status of the motor in a motor stopping state; an oscillation detection unit for receiving the control status amount signal to output, as an oscillation detection signal, a result of detecting oscillation of a control status amount that occurs in the follow-up control unit; an automatic adjustment unit for receiving the command status signal, the stopping-state response status signal, and the oscillation detection signal, the automatic adjustment unit comprising a plurality of adjustment modes for adjusting a control parameter of the follow-up control unit based on the received command status signal, the received stopping-state response status signal, and the received oscillation detection signal; and an adjustment start instruction input unit for receiving an adjustment start instruction from outside to output an adjustment start signal, wherein the automatic adjustment unit comprises: a first adjustment mode for monitoring the control status of the motor and adjusting the control parameter only when abnormality is detected in the control status of the motor, irrespective of presence and absence of the command speed in the command signal; and a second adjustment mode, which transitions from the first adjustment mode in response to the adjustment start instruction to adjust the control parameter based on the command signal, the oscillation detection signal, and the stopping-state response status signal after confirming that the command speed is present in the command signal based on the command status signal, and transitions to the first adjustment mode again after the adjustment is ended.