Control device

A control device for synchronizing a slave axis drive corresponding to a slave axis with a master axis drive corresponding to a master axis, the control device comprising:

• a calculator configured to calculate a correction value for a position command based on a transmission delay and a control delay included in outputting the position command from the control device to the slave axis drive, the transmission delay being a delay in transmitting the position command from the control device to the slave axis drive, the control delay being a delay in the slave axis drive;
• a generator configured to generate a corrected position command by applying the correction value to a reference position command for the slave axis drive calculated using position information about the master axis drive;
• and
• an adjuster configured to adjust, in a predetermined period from when a speed of the master axis drive changes, the correction value to be below a value calculated by the calculator to cause a position of the slave axis drive to avoid exceeding a position of the master axis drive.