A pulse signal generating device includes: the plurality of encoders each of which outputs an encoder signal with a pulse period corresponding to the speed of an object to be detected; delay amount control unit that controls a relative delay amount with respect to a pulse signal for each of the plurality of pulse output signals output from the plurality of encoders; a detection unit that individually detects abnormalities in pulses of the plurality of encoder signals; a switching unit that performs switching to one pulse output signal, in which pulse abnormalities are not detected, of the plurality of pulse output signals; and a pulse generating unit that generates a pulse signal by delaying the one pulse output signal switched by the switching unit by the corresponding relative delay amount.