Control device for operating multiple types of programs in different execution formats

A control device comprising:

• a storage device storing a first program that is entirely scanned for every execution and a second program that is executed sequentially;
• and
• one or more processors, configured to:
• execute the first program at every first cycle to output a first control command;
• parse at least a part of the second program at every second cycle, which is longer than the first cycle, to sequentially generate an internal command;
• output a second control command at every first cycle according to the internal command;
• execute a scheduler to allocate a processor resource to one or more tasks based on a preset priority, wherein at least a first task that has a first priority comprising processing execution performed by the program execution and the command calculation by the processor, a second task that has a second priority, lower than the first priority, comprising processing execution performed by the parsing by the processor, and a third task that has a third priority comprising execution of a processing content different from the first task and the second task are set in the scheduler;
• and
• monitor a processing state of the parsing, and when the processing state of the parsing meets a predetermined condition, change the second priority based on a ratio between a length of the second cycle and a time required for the processing execution of the second task according to the condition,
• wherein the processor determines the processing state of the parsing based on information that indicates a load related to a generation process of the internal command, and
• wherein the information that indicates the load comprises information of whether a time required for parsing of the second program performed by the processor exceeds the length of the second cycle.