Motor control system that detects voltage saturation

A motor control system comprising a plurality of control apparatuses for controlling a motor, and a host control apparatus which provides a command to said control apparatus, wherein each of said control apparatuses include:

• a position control unit which controls position based on a position command and commanded speed provided from said host control apparatus;
• a speed control unit which controls speed based on a speed command supplied from said position control unit;
• a current control unit which controls current based on a current command supplied from said speed control unit;
• and
• a current amplifier which amplifies current for driving said motor, based on a voltage command supplied from said current control unit, and wherein
• said current control unit includes:
• a voltage saturation processing unit which determines whether said voltage command has exceeded supply voltage of said current amplifier, and which outputs a result of said determination;
• and
• a voltage saturation notifying unit which notifies said host control apparatus of the result of said determination made by said voltage saturation processing unit.