A control device, synchronizing an operation of a driven shaft (551, 651) with respect to an operation of a main shaft (501, 601), the control device comprising: an acquisition unit, acquiring a speed of the main shaft (501, 601) in each control interval; a storage unit, storing a plurality of characteristic data for specifying a movement amount of the driven shaft (551, 651) with respect to a position of the main shaft (501, 601); the control device being characterised by a selection unit, selecting one characteristic data of the characteristic data; a calculation unit, calculating a speed commanded with respect to the driven shaft (551, 651) as a speed command value; and an output unit (81, 82), outputting the speed command value calculated by the calculation unit to the driven shaft (551, 651), wherein the calculation unit calculates a speed obtained by multiplying the speed of the main shaft (501, 601) acquired by the acquisition unit by a predetermined ratio as the speed command value in a synchronization operation in which the operation of the driven shaft (551, 651) is synchronized with respect to the operation of the main shaft (501, 601), and before the driven shaft (551, 651) arrives at a position where the synchronization operation starts, specifies the movement amount of the driven shaft (551, 651) based on a position of the main shaft (501, 601) calculated from the speed of the main shaft (501, 601) acquired by the acquisition unit and the characteristic data under selection by the selection unit, and calculates, as the speed command value, a speed specified based on the movement amount, and wherein in a case where the speed of the main shaft (501, 601) changes in a stepwise manner when the main shaft (501, 601) and the driven shaft (551, 651) are in operation, the selection unit specifies another characteristic data responsive to the speed change of the main shaft (501, 601) from the characteristic data stored in the storage unit, and switches the characteristic data under selection to the another characteristic data. an acquisition unit, acquiring a speed of the main shaft (501, 601) in each control interval; a storage unit, storing a plurality of characteristic data for specifying a movement amount of the driven shaft (551, 651) with respect to a position of the main shaft (501, 601); the control device being characterised by a selection unit, selecting one characteristic data of the characteristic data; a calculation unit, calculating a speed commanded with respect to the driven shaft (551, 651) as a speed command value; and an output unit (81, 82), outputting the speed command value calculated by the calculation unit to the driven shaft (551, 651), wherein the calculation unit calculates a speed obtained by multiplying the speed of the main shaft (501, 601) acquired by the acquisition unit by a predetermined ratio as the speed command value in a synchronization operation in which the operation of the driven shaft (551, 651) is synchronized with respect to the operation of the main shaft (501, 601), and before the driven shaft (551, 651) arrives at a position where the synchronization operation starts, specifies the movement amount of the driven shaft (551, 651) based on a position of the main shaft (501, 601) calculated from the speed of the main shaft (501, 601) acquired by the acquisition unit and the characteristic data under selection by the selection unit, and calculates, as the speed command value, a speed specified based on the movement amount, and calculates a speed obtained by multiplying the speed of the main shaft (501, 601) acquired by the acquisition unit by a predetermined ratio as the speed command value in a synchronization operation in which the operation of the driven shaft (551, 651) is synchronized with respect to the operation of the main shaft (501, 601), and before the driven shaft (551, 651) arrives at a position where the synchronization operation starts, specifies the movement amount of the driven shaft (551, 651) based on a position of the main shaft (501, 601) calculated from the speed of the main shaft (501, 601) acquired by the acquisition unit and the characteristic data under selection by the selection unit, and calculates, as the speed command value, a speed specified based on the movement amount, and wherein in a case where the speed of the main shaft (501, 601) changes in a stepwise manner when the main shaft (501, 601) and the driven shaft (551, 651) are in operation, the selection unit specifies another characteristic data responsive to the speed change of the main shaft (501, 601) from the characteristic data stored in the storage unit, and switches the characteristic data under selection to the another characteristic data.