Control system and control device

A control system, comprising:

• a first control device;
• a second control device network-connected to the first control device;
• and
• one or more actuators operating according to a control command from the first control device,
• wherein the first control device and the second control device comprise timers that are synchronized with each other in time,
• wherein the first control device comprises:
• a first program execution part executing a sequence program at every first cycle to output a first control instruction;
• a parsing part parsing at least a part of a first application program at every second cycle, which is equal to or longer than the first cycle, to sequentially generate an internal command;
• a command calculation part outputting a second control command to at least a part of the one or more actuators at every first cycle according to the internal command generated by the parsing part;
• and
• an arbitration part managing a parsing process performed by the parsing part, and
• the second control device comprises:
• a second program execution part sequentially parsing a second application program to output a third control command to a target movable machine;
• and
• a timing management part notifying in advance the first control device of a timing of outputting the third control command,
• wherein the arbitration part adjusts an output timing of the second control command according to the internal command generated by the parsing part in response to notification of the timing from the second control device.