Abstract: In an origin setting method for a machine in which a single mechanical movement axis is servo-controlled and driven cooperatively by two control shafts, structural shaft parts of the control shafts, which are moved by driving the control shafts, are moved until the structural shaft parts are brought into contact with mechanical end stoppers, a contact detection position of each control shaft is read and memorized and a droop amount of each control shaft is cleared under a condition that each structural shaft part is in contact with the mechanical end stopper, and then, the structural shaft parts are moved apart from the mechanical end stoppers by a predetermined amount, and positions moved by the predetermined amount are set as origins on a basis of the memorized contact detection positions; whereby, even if a mechanical part bridging the two shafts and movably placed thereon has a deviation in perpendicularity, the origins are precisely set with references to the mechanical end stopper positions for the two