Abstract: An axis position is commanded according to data stored in a memory table where the axis position is stored in association with a reference value consisting of time or spindle position. For commanding the shape of a circular arc, a start and end points, a center position, and a radius of the circular arc and designation of sine or cosine are set in advance in the memory table. Then, a movement command for connecting the start point and the end point with the circular arc is output to each of axes, using a trigonometric function defined by the center position of the circular arc, the radius of the circular arc and the designation of sine or cosine, which have been set.