Motor control device, industrial machine system, and motor control method

A control device connected to a driven body via a plurality of elastic elements and configured to control a motor that drives the driven body, the control device comprising:

• a command generating section configured to generate a command for operating the motor so as to accelerate;
• a correction amount calculating section configured to execute correction amount calculation processing to obtain a correction amount of the command, based on an elastic parameter representing elasticity of the elastic element;
• and
• a stage detecting section configured to detect transition from a first stage in which a driving force generated by the motor in response to the command acts on a first elastic element to a second stage in which the driving force acts on a second elastic element through the first elastic element,
• wherein, when the transition from the first stage to the second stage is detected, the correction amount calculating section is configured to switch the correction amount calculation processing to be executed, from first correction amount calculation processing executed based on a first elastic parameter of the first elastic element, to second correction amount calculation processing executed based on the first elastic parameter and a second elastic parameter of the second elastic element.