This motor control device is provided with a motor control unit which, on the basis of an operation command signal for driving the motor and a feedback signal from the encoder corresponding to motor operation, generates a command value relating to operation of the motor in accordance with a prescribed feedback method such that operation of the motor follows the operation command signal. Interruption processing of the drive signal is performed on the basis of the comparison result of a prescribed feedback value, which is calculated from the feedback signal from the encoder, and a control calculation value, which, comparable with a prescribed feedback value, is calculated during the process of generation of the command value by the motor control unit. By means of this configuration, it is possible to improve safety performance of the motor control device without hampering the safety performance of the encoder.