Control device

A controller that expresses a machine configuration of a control target in a form of a graph in which constituent elements are nodes and that holds the machine configuration, the controller comprising at least one memory and at least one processor, wherein the at least one memory stores instructions configured with the at least one processor to function as:

• a control point coordinate system insertion portion that allows each of the nodes in the graph of the machine configuration to assign a control point and a coordinate system as information;
• an identifier allocation portion that allocates an identifier to the control point and the coordinate system which have been assigned;
• an error information storage portion that stores information related to a machine error in the control target and the identifier allocated to a coordinate system in which the machine error is observed;
• an error node generation portion that transforms the machine error into an equivalent error node;
• an error node addition portion that adds the error node in the graph of the machine configuration;
• a control point coordinate system specification portion that specifies, with the identifier, one or more sets of the control point and the coordinate system in the graph of the machine configuration;
• a command value determination portion that uses the control point and the coordinate system specified by the control point coordinate system specification portion to determine for which control point and on which coordinate system one or more command values commanded in a program correspond to a coordinate value;
• and
• a movement command portion that commands movement of the control point such that the coordinate value of the control point becomes equal to the command value, wherein
• the error node addition portion adds the error node so that the error node is adjacent to a node corresponding to a machine origin.