A machine tool according to an embodiment includes a drive mechanism configured to move a control target; a motor configured to operate the drive mechanism; a first encoder configured to detect a position of the control target; a second encoder configured to detect a position of the motor; a servo control unit configured to control the motor; and a numerical control unit configured to receive or calculate an error between the position of the control target obtained from a detection result of the first encoder and a position of the control target obtained from a detection result of the second encoder from the servo control unit, and to estimate a transmission error of the drive mechanism based on a change amount of the error between before and after inversion of a moving direction of the control target.