Control device

A control device, comprising:

• a storage device that stores a sequentially executed first application program and a sequentially executed second application program and a sequence program, wherein each of the sequentially executed first application program and the sequentially executed second application program comprises a plurality of command;
• a shared memory;
• and
• a processor, configured to:
• execute the sequence program to output a control command at every control cycle,
• sequentially generate a first internal command by parsing at least a part of the sequentially executed first application program at every first cycle that is same as or longer than the control cycle, and generate a second internal command by parsing at least a part of the sequentially executed second application program at every second cycle that is same as or longer than the control cycle,
• store the first internal command and the second internal command in the shared memory, and
• output second control commands at every control cycle according to the first internal command and the second internal command,
• wherein
• when the sequentially executed first application program comprises a first special command and the sequentially executed second application program comprises a second special command that corresponds to the first special command, the processor outputs a first portion of the second control commands according to first segment commands described after the first special command among the commands in the sequentially executed first application program and a second portion of the second control commands according to second segment commands described after the second special command among the commands in the sequentially executed second application program on the basis of a common timing, and
• detects execution completion of third segment commands before the first special command among the commands in the sequentially executed first application program and execution completion of fourth segment commands before the second special command among the commands in the sequentially executed second application program, wherein
• when generating the first internal command, the processor also refers to fifth segment commands described after a command from which the first internal command is generated among the commands in the sequentially executed first application program;
• and
• when generating the second internal command, the processor also refers to sixth segment commands described after a command from which the second internal command is generated among the commands in the sequentially executed second application program.