A D/A conversion device includes a waveform-data-string storage area that stores therein a waveform data string including a plurality of digital values, a waveform-output-control-data storage area in which operation-mode specifying data and update request data are written, a digital-value output unit that, when the operation-mode specifying data specifies an automatic control mode, while sequentially updating an address to be read in the waveform-data-string storage area for each output period set in advance, sequentially reads and outputs a digital value and that, when the operation-mode specifying data specifies a step execution mode or an output-address change mode, while updating the address to be read at a timing when the update request data is written, reads and outputs the digital value, and a D/A conversion unit that converts the digital value output from the digital-value output unit into an analog value.