A pulse distribution unit notifies a mode control/instruction unit of an output start signal. The mode control/instruction unit outputs a mode setting signal, a speed command signal, and a compensation pulse to an axis control unit. In a position control mode, the mode control/instruction unit continues outputting the speed command signal to the axis control unit until the mode control/instruction unit receives the output start signal from the pulse distribution unit, and stops, up receiving the output start signal, outputting the speed command signal. The compensation pulse is output to the axis control unit to cancel the difference between a spindle position and the position control start reference position of the spindle. The axis control unit adds the compensation pulse to the position command signal of the spindle output from the pulse distribution unit and outputs the result to a servo control unit.