A motor control apparatus includes a torque-limit output unit configured to output a torque limit with which power consumption of a motor is equal to or smaller than a predetermined motor power limit value and voltage amplitude required for driving the motor is equal to or smaller than a predetermined voltage limit, a position-command generating unit configured to generate a position command to a reference position according to the torque limit value, and a power/voltage limiting unit configured to perform processing for correcting a motor torque current on the basis of an excess of the motor power consumption with respect to a motor power consumption limit value and processing for correcting a motor excitation current on the basis of an excess of a motor torque divided voltage with respect to a motor torque divided voltage limit value.