Control device for motor, robot, and control method for motor

A control device for a motor, the control device being configured or programmed to include a reference determiner to acquire an actual rotation angle of the motor at a predetermined period and determine, at the predetermined period, a reference rotation angle of the motor as a command value to rotate the motor;

• wherein
• when the actual rotation angle of the motor is delayed behind an immediately preceding reference rotation angle determined by the reference determiner and a delay amount is smaller than a predetermined threshold, the reference determiner determines a present reference rotation angle by adding an angle increment corresponding to a rotating speed of the motor to the immediately preceding reference rotation angle;
• and
• when the actual rotation angle is delayed behind the immediately preceding reference rotation angle and the delay amount is larger than the threshold, the reference determiner determines the immediately preceding reference rotation angle as the present reference rotation angle.