According to the present invention, a motor driving module for driving a motor for moving a moving object, an input module for inputting a position command for determining the moving position of the moving object, and a driving pulse for operating the motor driving module based on the position command are output. And a control module, wherein the control module generates a location profile according to the location command when the first location operation interrupt occurs within the first location control cycle, and the first location according to the location profile. When a pulse calculating unit for calculating the number of outputs of the driving pulses output in the second position control cycle after the control cycle and a second position operation interrupt indicating the start time of the second position control cycle are generated, the motor driving module It provides a PLC-based position control device including a drive control unit for outputting the drive pulse having the number of outputs calculated by the pulse calculation unit.
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