from its own path table step sb 03 it is determined whether or not there is any command reference value read in step sb 02 in its own path table and when there is the command reference value the process proceeds to step sb 04 and there is no command reference value the processing is terminated step sb 04 it is determined whether or not there is the waiting command of waiting for other path tables and when there is a waiting command the process proceeds to step sb 05 and when there is no waiting command the process proceeds to step sb 08 step sb 05 counting of the value l serving as a reference is stopped step sb 06 it is determined whether or not waiting for the other path tables is completed and when waiting is completed the process proceeds to step sb 07 when waiting is not completed completion of waiting is waited step sb 07 stopping of counting of the value l serving as a reference is released step sb 08 the interpolation processing is performed and a movement command is output step sb 09 the value l serving as a reference in its own path table is read step sb 10 it is determined whether or not the value l serving as a reference read in step sb 09 reaches the command reference value read in step sb 02 and when the reference value l.