A control device comprising: a storage part configured to store a sequentially executed first application program, a sequentially executed second application program and a sequence program, wherein each of the sequentially executed first application program and the sequentially executed second application program comprises a plurality of commands, a program execution part configured to execute the sequence program and to output a first control command at every control cycle, a parsing part configured to sequentially generate a first internal command by parsing at least a part of the sequentially executed first application program at every first cycle that is same as or longer than the control cycle, and to generate a second internal command by parsing at least a part of the sequentially executed second application program at every second cycle that is same as or longer than the control cycle, a shared memory configured to store the first internal command and the second internal command generated by the parsing part, and a command calculation part configured to output second control commands at every control cycle according to the first internal command and the second internal command, wherein when the sequentially executed first application program comprises a first special command (320-1; 332) and the sequentially executed second application program comprises a second special command that corresponds to the first special command, the command calculation part outputs the second control commands according to the commands described after the first special command in the sequentially executed first application program and the second control commands according to the commands described after the second special command in the sequentially executed second application program on the basis of a common timing, the control device further comprising an arbitration part, the arbitration part is configured to detect execution completion of the commands up to the command immediately before the first special command and execution completion of the commands up to the command immediately before the second special command, and notify the parsing part of the common timing, characterized in that when generating the first and second internal commands from first and second commands described in the sequentially executed first application program and the sequentially executed second application program, respectively, the parsing part is further configured to refer to commands described after the first and second commands, respectively. a storage part configured to store a sequentially executed first application program, a sequentially executed second application program and a sequence program, wherein each of the sequentially executed first application program and the sequentially executed second application program comprises a plurality of commands, a program execution part configured to execute the sequence program and to output a first control command at every control cycle, a parsing part configured to sequentially generate a first internal command by parsing at least a part of the sequentially executed first application program at every first cycle that is same as or longer than the control cycle, and to generate a second internal command by parsing at least a part of the sequentially executed second application program at every second cycle that is same as or longer than the control cycle, a shared memory configured to store the first internal command and the second internal command generated by the parsing part, and a command calculation part configured to output second control commands at every control cycle according to the first internal command and the second internal command, wherein when the sequentially executed first application program comprises a first special command (320-1; 332) and the sequentially executed second application program comprises a second special command that corresponds to the first special command, the command calculation part outputs the second control commands according to the commands described after the first special command in the sequentially executed first application program and the second control commands according to the commands described after the second special command in the sequentially executed second application program on the basis of a common timing, the control device further comprising an arbitration part, the arbitration part is configured to detect execution completion of the commands up to the command immediately before the first special command and execution completion of the commands up to the command immediately before the second special command, and notify the parsing part of the common timing, characterized in that when generating the first and second internal commands from first and second commands described in the sequentially executed first application program and the sequentially executed second application program, respectively, the parsing part is further configured to refer to commands described after the first and second commands, respectively.