Motor control apparatus

A motor control apparatus that controls a motor that includes an encoder, the motor control apparatus comprising:

• a position command generator to generate a position command that is a command value that causes a mechanical load driven by the motor to approach a subject to be pressurized and that causes a final position of the mechanical load to be before the subject to be pressurized at a certain distance from the subject to be pressurized;
• a position controller to output a first speed command such that a position of the motor detected by the encoder tracks the position command;
• a pressure command generator to generate a pressure command that is a command value of a pressure or a force to be applied to the subject to be pressurized;
• a pressure controller to output a second speed command such that, when the mechanical load is pressed against the subject to be pressurized, a pressure or a force detected on the mechanical load tracks the pressure command;
• a speed command selector to select one of a creep speed that specifies an upper limit of a speed of the motor to be used when the mechanical load comes into contact with the subject to be pressurized, the first speed command, and the second speed command and output the selected one of the creep speed, the first speed command, and the second speed command as a speed command for the motor to operate;
• and
• a speed controller to output a current command for supplying a current to the motor such that the speed of the motor tracks the speed command output by the speed command selector, wherein
• after the speed command selector selects the first speed command, the speed command selector selects one of the second speed command and the creep speed that has a smaller value at and after a timing when the first speed command falls below the creep speed.