The invention discloses a position control method of a servo motor. When the difference of a target counting value and a counted total numerical value is greater than the maximum counting value of a counter, a counting control program controls the counter to reset and restart to count by combining and using the counter and the counting control program and setting the target counting value in the counting control program in advance; when the difference of the target counting value and the counted total numerical value is smaller than or equal to the maximum counting value of the counter, the counting control program controls the counter to take a result obtained by subtracting the difference of the target counting value and the counted total numerical value by the maximum counting value ofthe counter as a counting initial value and continue to count; and when the counting value of the counter exceeds the maximum counting value of the counter, the counter generates an overflow signal, so that the counting of the pulse number is realized by the matching of the counter and the counting control program. The invention ensures the counting accuracy, effectively enhances the counting speed, satisfies the requirement of counting with high accuracy and high speed and also lowers the hardware cost.