The disclosure enables mutual relationships among operation statuses of each motor to be ascertained without using synchronous serial communication between multiple motor control devices. The motor control system is equipped with: a motor driver having a trigger determination part for determining whether or not a trigger condition is satisfied, a trigger notification part for transmitting a trigger notification indicating that the trigger condition is satisfied to motor drivers by asynchronous communication, and a trace result information generation part for causing a storage part to store a trigger data number for identifying operation data when the trigger condition is satisfied; and motor drivers each having a trace result information generation part for causing a storage part to store a slave trigger time at which the trigger notification is received, a trigger data number for identifying operation data corresponding to the slave trigger time, and a master trigger time.

A servo control apparatus which includes: a difference calculation unit that calculates difference between an integral value of speed deviation of a master axis and an integral value of speed deviation of a slave axis; a filter unit that performs filtering of the difference by way of a low-pass filter; and an addition unit that adds a result of the filtering to the integral value of the speed deviation of the slave axis, in which a current command for driving the master-axis motor is calculated for the master axis by using the integral value of the speed deviation of the master axis; and a current command for driving the slave-axis motor is calculated for the slave axis by using an integral value after addition by way of the addition unit.

A motor control device for controlling driving of a motor based on position commands input from a host control device includes an offset value memory including first circuitry which stores offset values corresponding to predetermined values of position commands, respectively, and a drive controller including second circuitry which acquires, from the offset value memory, one of the offset values corresponding to an input position command among the position commands, and control driving of a motor based on an offset position command obtained by adding the one of the offset values to or subtracting the one of the offset values from the input position command.

An actuator (1M, 1S) with a motor (12) and a motor controller (11) is configurable to operate as a master or a slave to another actuator which is coupled mechanically for driving a common load. For the case where the actuator (1M) is set as the master, the motor controller (11) receives on an input terminal (Y3) an external position control signal (pC), generates a motor control signal (sC) for controlling the motor (12) based on the position control signal (pC), and supplies the motor control signal (sC) to an output terminal (U5) for controlling a slave. For the case where the actuator (1S) is set as the slave, the motor controller (11) controls the motor (12) by supplying to the motor (12) the motor control signal (sC) received from the master. Controlling the actuators with a master improves workload balancing and reduces damages to transmission mechanics of the actuators.