A positioning control device (10, 110) for an industrial machine, the industrial machine including a driver (21, 70, 80) including a motor, a movable body (22b, 122b) movable by the driver (21, 70, 80), first detector configured to detect a position of the movable body (22b, 122b) based on the amount of driving of the driver (21, 70, 80), a servo amplifier configured to perform first feedback control of feedback-controlling driving of the motor based on a first detection value by the first detector, and second detector (25, 125) configured to detect a position of the movable body (22b, 122b) when the movable body (22b, 122b) comes closer to a target position within a certain distance or shorter, wherein the positioning control device (10, 110) is configured to position the movable body (22b, 122b) at the target position and comprises a controller (1, 101) configured to control the servo amplifier, wherein the controller (1, 101) includes a switching unit configured to switch control modes between a first control mode performing the first feedback control of the servo amplifier and a second control mode disabling the first feedback control of the servo amplifier and performing second feedback control of feedback-controlling driving of the motor based on a second detection value by the second detector (25, 125), wherein the controller (1, 101) includes a command generating unit configured to generate a control command, is configured to input, in a state in which the control mode is switched to the first control mode by the switching unit, the control command generated by the command generating unit to the servo amplifier, and is configured to input, in a state in which the control mode is switched to the second control mode by the switching unit, the control command to which the first detection value is added and from which the second detection value is subtracted to the servo amplifier, characterized in that the servo amplifier is configured to subtract the first detection value from the control command in the first and second control modes so that, in the second control mode, the first detection value is cancelled. the positioning control device (10, 110) is configured to position the movable body (22b, 122b) at the target position and comprises a controller (1, 101) configured to control the servo amplifier, wherein the controller (1, 101) includes a switching unit configured to switch control modes between a first control mode performing the first feedback control of the servo amplifier and a second control mode disabling the first feedback control of the servo amplifier and performing second feedback control of feedback-controlling driving of the motor based on a second detection value by the second detector (25, 125), wherein the controller (1, 101) includes a command generating unit configured to generate a control command, is configured to input, in a state in which the control mode is switched to the first control mode by the switching unit, the control command generated by the command generating unit to the servo amplifier, and is configured to input, in a state in which the control mode is switched to the second control mode by the switching unit, the control command to which the first detection value is added and from which the second detection value is subtracted to the servo amplifier, characterized in that the servo amplifier is configured to subtract the first detection value from the control command in the first and second control modes so that, in the second control mode, the first detection value is cancelled.