Control device

A controller including a plurality of platforms, the controller comprising:

• a plurality of command application units;
• a plurality of platform units that are associated with the plurality of command application units, respectively;
• a shared memory that stores information communicated between the plurality of platforms;
• and
• a servo control processing unit,
• the command application units including:
• a command processing unit that outputs a command value;
• and
• a command mediation method designating unit that outputs a mediation method classification and identification information of the platform units subject to coordinated control,
• the platform units including:
• a first interface unit that acquires the command value from the command application units;
• a second interface unit that acquires the mediation method classification and the identification information of the platform units from the command application units;
• an inter-platform communication unit that transfers the command value, the identification information, and the mediation method classification between the platform units via the shared memory;
• and
• a command mediation unit that acquires the command value, the identification information, and the mediation method classification from all the platform units subject to coordinated control, mediates the command value based on the identification information and the mediation method classification, and outputs the mediated command value to the shared memory,
• the servo control processing unit being configured to perform servo control based on the mediated command value acquired from the shared memory.