To prevent an excessive motor speed when the disturbance is canceled by outputting a limit velocity as a speed command if this command produced by a position control means exceeds the limit speed that is shown in a prescribed acceleration/deceleration pattern.

A speed limit output means 12 is added to a servo control part 200 to limit the level of a speed command V' that is outputted from a position controller 2. Then the means 12 executes a system program stored in a system program memory via a CPU based on a limit speed VL sent from a positioning control part 100. If the speed command V' of the controller 2 does not exceed the speed VL that is shown in a prescribed acceleration/ deceleration pattern, the command V' is outputted. Meanwhile, the speed shown in the acceleration/deceleration pattern is outputted as a speed command if the command V' of the controller 2 exceeds the speed VL.