A servomotor control device includes: a driven body configured to be driven by a servomotor; a connection mechanism configured to connect the servomotor and the driven body; a position command generation unit configured to generate a position command value; a motor control unit configured to control the servomotor using the position command value; a force estimation part configured to estimate a force estimated value which is a drive force acting on the driven body at a connecting part with the connection mechanism; a force estimated value output part configured to decide on reflection of updating and interruption of updating of a force estimated value based on the position command value, and output either of a force estimated value reflecting updating, or a force estimated value of when interrupting updating; and a compensation amount generation part configured to generate a compensation amount for compensating the position command value.