data from the ddp and issues a position instruction value to the servo control block namely acceleration constant speed and deceleration data are integrated by the acceleration deceleration control block with respect to time in this order and sampled to produce the position instruction value the servo control block performs position control to make a fed back value of the rotational position of an axis coincide with the position instruction value and as the result produces a rotational speed instruction value which is given to a designated speed control program block in the servo controllers 18a to 18d jog off command issued by the teaching box 14a to stop the motion of any axis is executed in the same manner as described above in the play back stage the system 10 works on the configuration set up in the setting stage and according to steps and patterns given in the teaching stage in this stage the inner construction and functions of the positional controller 16a are basically the same as illustrated in fig4 to 8 however in each unit control block uci only the command analyzer block sel play back block play and unit drive block unit are at work as shown in fig1 a play back instruction is given by the teaching box.