A control program generation apparatus (100a, 110) for generating a control program for an automated manufacturing machine including a plurality of actuators (10 to 20), the apparatus (100a, 110) comprising: an element action storage storing a plurality of element actions each indicating an action with an inherent degree of freedom of a corresponding actuator of the plurality of actuators, the plurality of element actions being associated with a plurality of program elements to perform the plurality of element actions; an action chart reader configured to read an action chart describing an operation of the automated manufacturing machine, the action chart including a plurality of subperiods into which an operation period from a start to an end of the operation of the automated manufacturing machine is divided, the action chart including the plurality of element actions included in the operation of the automated manufacturing machine, each of the plurality of element actions being assigned to a subperiod selected from the plurality of subperiods; and a control program generator configured to generate the control program to cause the automated manufacturing machine to operate by combining together, in an order of the plurality of subperiods on the action chart, the plurality of program elements for the plurality of element actions assigned to the plurality of subperiods on the action chart, wherein each of the plurality of element actions includes an action identifier and a numerical identifier, the action identifier includes qualitative information about the element action without numerical quantitative information about the element action, the numerical identifier includes numerical quantitative information about the element action, and the element action storage stores the plurality of program elements each corresponding to the action identifier of a corresponding element action of the plurality of element actions and stores a numerical table corresponding to the numerical identifier or a plurality of numerical parameters corresponding to the numerical identifier, the action chart reader configured to read the action chart describing the plurality of element actions each including the action identifier and the numerical table or the plurality of numerical parameters, and the control program generator configured to set a numerical value for each of the plurality of program elements in accordance with the numerical table or the plurality of numerical parameters described with the action identifier corresponding to the program element, and to combine the plurality of program elements together. an element action storage storing a plurality of element actions each indicating an action with an inherent degree of freedom of a corresponding actuator of the plurality of actuators, the plurality of element actions being associated with a plurality of program elements to perform the plurality of element actions; an action chart reader configured to read an action chart describing an operation of the automated manufacturing machine, the action chart including a plurality of subperiods into which an operation period from a start to an end of the operation of the automated manufacturing machine is divided, the action chart including the plurality of element actions included in the operation of the automated manufacturing machine, each of the plurality of element actions being assigned to a subperiod selected from the plurality of subperiods; and a control program generator configured to generate the control program to cause the automated manufacturing machine to operate by combining together, in an order of the plurality of subperiods on the action chart, the plurality of program elements for the plurality of element actions assigned to the plurality of subperiods on the action chart, wherein each of the plurality of element actions includes an action identifier and a numerical identifier, the action identifier includes qualitative information about the element action without numerical quantitative information about the element action, the numerical identifier includes numerical quantitative information about the element action, and the element action storage stores the plurality of program elements each corresponding to the action identifier of a corresponding element action of the plurality of element actions and stores a numerical table corresponding to the numerical identifier or a plurality of numerical parameters corresponding to the numerical identifier, the action chart reader configured to read the action chart describing the plurality of element actions each including the action identifier and the numerical table or the plurality of numerical parameters, and the control program generator configured to set a numerical value for each of the plurality of program elements in accordance with the numerical table or the plurality of numerical parameters described with the action identifier corresponding to the program element, and to combine the plurality of program elements together.