Servo control apparatus and method for controlling the same

A servo control apparatus, comprising:

• an input unit configured to receive an execution command with respect to one of a first control mode and a second control mode that are configured to control a motor;
• a plurality of detection units each configured to detect sensing data required for executing each of the first control mode and the second control mode;
• and
• a control unit configured to receive a feedback of the plurality of pieces of sensing data detected through the plurality of detection units while executing the first control mode, determine a point of time when a control mode is needed to be changed if the execution command with respect to the second control mode is input through the input unit, check the sensing data required for executing the second control mode among the plurality of sensing data that are fed back, and control a following from the sensing data checked to a command data corresponding to the execution command of the second control mode.