A control device of an electric motor that drives an axis influenced by gravity includes: a determination unit that determines whether an overrun operation to move past a target position of the axis is allowable; and a drive control unit that, in a case in which it is determined by the determination unit that the overrun operation is allowable and the axis is driven in an antigravity direction, controls driving of the electric motor so that, after the axis being driven to the overrun position past the target position in the antigravity direction, the axis is driven again in a gravity direction to stop at the target position.