To obtain a motor control device reducing a synchronization error.

A motor control device includes: drive controlling means 14 for controlling driving force to a motor of a drive shaft so as to make a position of the drive shaft follow a position command to the drive shaft; phase computing means 161 for obtaining a phase of the drive shaft from the position of the drive shaft, on the basis of a relationship between the position and the phase of the drive shaft; reference phase computing means 162 for generating a reference phase signal on the basis of the phase of the drive shaft and a phase of another drive shaft; phase command correcting means 163 for generating a phase command correction signal making the phase of the drive shaft follow the reference phase signal, on the basis of difference between the phase of the drive shaft and the reference phase signal; and position command computing means 15 for generating a position command by using the relationship on the basis of a phase command and the phase command correction signal.