Patent ID: 7276869

Claim:
A motor control apparatus that controls a motor by using a position loop and a velocity loop according to a position signal and a position deviation signal, the position signal being information on a rotational position of the motor driving an object to be controlled, and the position deviation signal being a difference between the position signal and a position instruction signal designating a rotational position of the motor, the motor control apparatus comprising: a current limiting unit that limits an output current to the motor and outputs a current limiting signal, when the output current is limited; a deviation limiting unit that obtains an input/output deviation of the position deviation signal when the current limiting signal is outputted and a velocity control operation is performed, and outputs the input/output deviation; and an integrating unit that integrates the input/output deviation, wherein when each of a velocity instruction signal and an acceleration/deceleration instruction signal is detected from the position instruction signal, an integral value of the input/output deviation signal is subtracted from the position deviation signal.