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.