A control system, configured to control a master device and a slave device in combination, wherein the control system is characterized in that: the control system comprises: a master device control part, configured to control a master device with a certain number of control axes (m) among a plurality of types of master devices with mutually different numbers of control axes by using master information (Mm) composed of (m) elements equal in number to the number of control axes (m) of the master device to be controlled; a slave device control part, configured to control a slave device with a certain number of control axes (n) among a plurality of types of slave devices with mutually different numbers of control axes by using slave information (Sn)composed of (n) elements equal in number to the number of control axes (n) of the slave device to be controlled; and an abstracted master information creating part, configured to sequentially receive the master information (Mm) from the master device control part and create abstracted master information composed of a fixed number of elements, based on a predetermined manner for allocating each of the number of elements (m) of the received master information (Mm) to one of the fixed number of elements of the abstracted master information, the predetermined manner including an indication which element included in the master information (Mm) is to be allocated to which element among the fixed number of elements in the abstracted master information according to an allocation setting correspondence table, wherein an element included in the master information (Mm) representing a degree of freedom of rotation is allocated to an element included in the abstracted master information representing a degree of freedom of rotation, and an element included in the master information (Mm) representing a degree of freedom of translation is allocated to an element included in the abstracted master information representing a degree of freedom of translation, wherein the slave device control part is further configured to sequentially receive the abstracted master information from the abstracted master information creating part, extract elements in a number in accordance with the number of elements of the slave information (Sn) from the fixed number of elements comprised in the received abstracted master information based on a predetermined manner for extraction and in accordance with the number of elements of the slave information (Sn), and create the slave information (Sn) by using values indicated by the extracted elements. a master device control part, configured to control a master device with a certain number of control axes (m) among a plurality of types of master devices with mutually different numbers of control axes by using master information (Mm) composed of (m) elements equal in number to the number of control axes (m) of the master device to be controlled; a slave device control part, configured to control a slave device with a certain number of control axes (n) among a plurality of types of slave devices with mutually different numbers of control axes by using slave information (Sn)composed of (n) elements equal in number to the number of control axes (n) of the slave device to be controlled; and an abstracted master information creating part, configured to sequentially receive the master information (Mm) from the master device control part and create abstracted master information composed of a fixed number of elements, based on a predetermined manner for allocating each of the number of elements (m) of the received master information (Mm) to one of the fixed number of elements of the abstracted master information, the predetermined manner including an indication which element included in the master information (Mm) is to be allocated to which element among the fixed number of elements in the abstracted master information according to an allocation setting correspondence table, wherein an element included in the master information (Mm) representing a degree of freedom of rotation is allocated to an element included in the abstracted master information representing a degree of freedom of rotation, and an element included in the master information (Mm) representing a degree of freedom of translation is allocated to an element included in the abstracted master information representing a degree of freedom of translation, wherein the slave device control part is further configured to sequentially receive the abstracted master information from the abstracted master information creating part, extract elements in a number in accordance with the number of elements of the slave information (Sn) from the fixed number of elements comprised in the received abstracted master information based on a predetermined manner for extraction and in accordance with the number of elements of the slave information (Sn), and create the slave information (Sn) by using values indicated by the extracted elements.