A fixed-position stop control apparatus for a rotation shaft, comprising: a speed loop control means adapted for speed controlling the rotation shaft according to one of a first speed instruction having a first speed generated by a higher level control apparatus and a second speed instruction having a second speed, which is smaller than the first speed, a move-instruction generating means adapted for generating a move instruction for each control cycle; a position loop control means adapted for position controlling the rotation shaft for each control cycle according to the move instruction generated by the move-instruction generating means; a changeover unit adapted to change over so as to select one of a speed instruction generated by the position loop controller, the second, predetermined speed instruction, stored in advance in a storage and the speed instruction generated by the higher level control apparatus, characterised in that the fixed-position stop control apparatus comprises an acceleration detecting means adapted for detecting an acceleration of the rotation shaft during acceleration or deceleration; wherein the changeover unit is adapted to, when the rotation shaft needs to be stopped, change from the speed control of the rotation shaft based on the first speed instruction generated by the higher level control apparatus to the speed control of the rotation shaft based on the second speed instruction of the speed loop control means, wherein the changeover unit is adapted to, when the speed of the rotation shaft reaches the second speed, change from the speed control of the rotation shaft based on the second speed instruction of the speed loop control means to the position control of the rotation shaft by the position loop control means, and wherein the move instruction generated by the move-instruction generating means immediately after the changeover unit changes from the speed control of the rotation shaft based on the second speed instruction of the speed loop control means to the position control of the rotation shaft by the position loop control means, includes an acceleration detected by the acceleration detecting means immediately before the changeover unit changes from the speed control to the position control. a speed loop control means adapted for speed controlling the rotation shaft according to one of a first speed instruction having a first speed generated by a higher level control apparatus and a second speed instruction having a second speed, which is smaller than the first speed, a move-instruction generating means adapted for generating a move instruction for each control cycle; a position loop control means adapted for position controlling the rotation shaft for each control cycle according to the move instruction generated by the move-instruction generating means; a changeover unit adapted to change over so as to select one of a speed instruction generated by the position loop controller, the second, predetermined speed instruction, stored in advance in a storage and the speed instruction generated by the higher level control apparatus, characterised in that the fixed-position stop control apparatus comprises an acceleration detecting means adapted for detecting an acceleration of the rotation shaft during acceleration or deceleration; wherein the changeover unit is adapted to, when the rotation shaft needs to be stopped, change from the speed control of the rotation shaft based on the first speed instruction generated by the higher level control apparatus to the speed control of the rotation shaft based on the second speed instruction of the speed loop control means, wherein the changeover unit is adapted to, when the speed of the rotation shaft reaches the second speed, change from the speed control of the rotation shaft based on the second speed instruction of the speed loop control means to the position control of the rotation shaft by the position loop control means, and wherein the move instruction generated by the move-instruction generating means immediately after the changeover unit changes from the speed control of the rotation shaft based on the second speed instruction of the speed loop control means to the position control of the rotation shaft by the position loop control means, includes an acceleration detected by the acceleration detecting means immediately before the changeover unit changes from the speed control to the position control.