Patent ID: 7589488

Claim:
A motor control apparatus comprising: a speed control portion including a proportional integral calculating portion for controlling an angular speed of a motor, a position control portion including a proportional integral calculating portion for controlling an angle of the motor, a setting portion for setting values of a proportional gain (Kv) of the position control portion, a proportional gain (Kv) of the speed control portion, an integral time constant (Ti) of the speed control portion, a low pass filter time constant (Tf) of a torque command filter for inputting a torque command outputted from the speed control portion, and a low pass filter time constant (Tp) of a position acceleration/deceleration filter arranged at a prestage of the position control portion for smoothing a rapid variation in a position command, and a first switching portion allocated with the values of the speed control proportional gain Kv, the position control proportional gain Kp, the speed control integral time constant Ti, the torque command low pass filter Tf, and the position command low pass filter time constant Tp in steps by certain constant rates relative to the set values or arbitrary values.