Abstract: An object of the present invention is to provide a motor control device capable of estimating a delay with high accuracy even in a case where there is a fluctuation in disturbance torque or delay time and of suppressing the influence of the delay. For this end, the present invention includes a motor MTR, an ECU 2 that controls the rotation of the motor MTR, and an ECU 1 that sends a torque command to the ECU 2 based on a command value. The ECU 1 includes a disturbance estimation block 100 and a delay estimation block 200. The disturbance estimation block 100 estimates disturbance torque (?d) using a torque command input to the ECU 2 and a feedback value of the motor MTR. The delay estimation block 200 estimates a delay using a torque command output from the ECU 1, the feedback value of the motor MTR, and the disturbance torque (?d).

Abstract: A jig for use in washing optical elements. The jig is arranged to receive and hold a plural number of optical elements, which are formed by polishing and cutting into predetermined unit lengths a plural number of glass rods adhesively fixed on a polishing tray, and then heating the polishing tray to kill adhesive power of an adhesive agent bonding the optical elements to the polishing tray. The jig is in the form of a pallet which is constituted by a base member and a cover member of similar grid-like forms, which are closable one on the other in an overlapped state and fixable to each other to form therebetween rows of nesting pockets for securely holding therein rows of optical elements in the same positional relations as on said polishing tray. The base and cover member of the pallet are provided with openings on the opposite sides of the nesting pockets to bring the respective optical elements into contact with a cleaning liquid.