A numerical control device includes a command analysis unit, an acceleration calculation unit in reversing operation, a velocity control unit, and an interpolation unit. The acceleration calculation unit in reversing operation is configured to calculate the acceleration of the drive shaft before and after the reversing operation when reversal of the commanded path of the drive shaft based on the commanded data is detected by the velocity control unit.

A multiple system numerical control device for executing multiple system control for dividing plural axes to be controlled to plural systems and controlling each system based on different machining program in parallel, wherein, the plural systems includes a normal interpolation period system configured to operate at normal interpolation period and control a first control axis, and a high speed interpolation period system configured to operate at high speed interpolation period shorter than the normal interpolation period and control a second control axis, and processing in the normal interpolation period system executed in a first interpolation processing unit, a first coordinate update processing unit, and a data management information generation unit are executed plural times in a normal interpolation period according to system ratio of the normal interpolation period and the high speed interpolation period.