Controller, control system, and control method

A non-transitory memory device having instructions stored thereon that, in response to execution by a controller, cause the controller to perform operations comprising:

• storing two or more coordinate conversion programs;
• receiving an operation command from a unifying controller;
• acquiring program designation information that associates one of the coordinate conversion programs with the operation command in a coordinate system for the unifying controller, the unifying controller configured to control two or more controlled objects;
• converting the operation command to an operation target value of a plurality of joint axes of a multi-axis robot based on the program designation information;
• and
• outputting driving power to one or more of the joint axes according to the operation target value.

A control method comprising:

• storing two or more coordinate conversion programs;
• receiving an operation command from a unifying controller;
• acquiring program designation information that associates one of the coordinate conversion programs with an operation command in a coordinate system for the unifying controller, the unifying controller configured to control two or more controlled objects;
• converting the operation command to an operation target value associated with a plurality of joint axes of a multi-axis robot based on the program designation information;
• and
• outputting driving power to one or more of the joint axes according to the operation target value.