In the multi-shaft driving apparatus, position command pulse trains for
servomotors are generated from a motor controller and supplied to motor
drivers for the respective servomotors via a multichannel pulse train
transmitting apparatus. The multichannel pulse train transmitting
apparatus converts the position command pulse trains supplied from the
motor controller 6 to serial signals in a transmission-side converter,
combines the resulting serial signals as a stream signal, and supplies
the signal to a reception-side converter via a serial signal transmission
path composed of a pair of signal wires. In the reception-side converter,
motor position command pulse trains in the form of a serial signal is
returned to multichannel pulse trains in the form of a parallel signal
which are supplied to the motor drivers. The number of wires between the
motor controller and the motor drivers can be reduced.