To reduce damage of a driving system or possibility of deviation of a work due to sudden deceleration in a case of a machine of low permission acceleration of the driving system or a case when the work is held in a control object in a motor control apparatus performing position control for multiplying a position deviation between a position command and a detection position by a position loop gain and calculating a speed command and speed control for calculating a torque command based on the speed command and detection speed, and controlling a servo motor.

An acceleration/deceleration data holding part 16 holding acceleration/deceleration time and maximum sending speed when controlling a position, an acceleration operation part 17 operating acceleration in accordance with acceleration/deceleration time and maximum sending speed and a speed command operating part 18 operating the speed command in accordance with acceleration and detection speed are installed. When an emergency stop switch is pushed or an alarm is caused, a speed command switching part 19 switches the speed command from the speed command Vc from the position deviation computing element 3 to the speed command Vc' from the speed command operating part 18.