A motor control device includes: a power failure detection unit that detects a power failure; a voltage detection unit that detects a DC link voltage; a switch unit which connects a motor to an amplifier or a resistance; a voltage comparison unit which compares a DC link voltage with a threshold value; a limit value setting unit which sets a torque limit value in accordance with a result of comparison; a torque command limit unit which limits a torque command when a power failure is detected; a prediction value calculation unit which calculates, using an angular velocity, a torque prediction value of the motor when the motor is connected to the resistance; and a torque comparison unit which compares the torque limit value with the torque prediction value, in which in accordance with a result of comparison, the switch unit connects the motor to the amplifier or the resistance.