Method and device for controlling motor

A motor control device including:

• a pulse generator that generates a pulse signal every time a driven target is driven for a specified distance by a motor;
• a velocity calculator that measures a cycle between at least one of leading edges and trailing edges of the pulse signal outputted from the pulse signal generator, and calculates a driving velocity of the driven target from the measured edge cycle;
• a driving controller that calculates a manipulated variable of the motor such that the calculated driving velocity corresponds to a specified target velocity and drives and controls the motor based on the manipulated variable;
• and
• a velocity selector that replaces the driving velocity with a specified set velocity that is lower than the target velocity, when no output of the edges from the pulse signal generator continues for and over a specified replacement determination time while the motor is driven and controlled.