Control device

A control device having one or more processors, the control device comprising:

• a storage part storing a first program that is scanned as a whole for every execution and a second program that is executed sequentially;
• a program execution part executing the first program at every first cycle to output a first control command;
• a parsing part parsing 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;
• a command calculation part outputting a second control command at every first cycle according to the internal command generated by the parsing part;
• a scheduler allocating 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 part and the command calculation part, a second task that has a second priority, lower than the first priority, comprising processing execution performed by the parsing part, 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
• a priority changing part monitoring a processing state of the parsing part, and when the processing state of the parsing part meets a predetermined condition, changing the second priority that has been set to the second task according to the condition.