Motion controller

A motion controller, comprising:

• an axis control part that is connected to an amplifier to drive a motor and controls the amplifier based on motor control information;
• a communication control part that receives a motor control command and a control function by communication with a higher-level control device, the motor control command serving as a source for updating the motor control information;
• a control function storage part that stores the control function received from the higher-level control device by the communication control part;
• a control function execution part that performs execution of the stored control function using, as an input, at least one of information of the motor and information of a sensor;
• and
• a control information changing part that changes the motor control information based on a result of the execution of the stored control function at the control function execution part, wherein
• the motor control information changed by the control information changing part serves as an input to the axis control part, and
• the communication control part receives the control function in a communication cycle different from a communication cycle of the motor control command.