A control device , comprising: a cyclic communication part configured to control communication of first control data (D01, D02, D1) of which arrival in a first guarantee time is guaranteed according to a preset cyclic period and second control data (D21) of which arrival in a second guarantee time longer than the cyclic period is guaranteed and of which a sequence of information included is determined; and a communication management part configured to manage a communication schedule of the first control data (D01, D02, D1) and the second control data (D21), characterized in that , when new second control data (D22) is acquired while the second control data (D21) is divided into a plurality of communication data and communicated according to the cyclic period, wherein a communication target slave device for this new second control data (D22) is the same as that of the second control data (D21), the communication management part determines a communication sequence of the plurality of second control data (D21) according to priorities of the plurality of second control data (D21), and wherein, when a priority of the new second control data (D22) is higher than a priority of the second control data (D21) that is being communicated, the communication management part temporarily stops communication of the second control data (D21) that is being communicated and performs communication of the new second control data (D22), and after communication of the new second control data (D22) is completed, the communication management part resumes communication of the second control data (D21) that is temporarily stopped. a cyclic communication part configured to control communication of first control data (D01, D02, D1) of which arrival in a first guarantee time is guaranteed according to a preset cyclic period and second control data (D21) of which arrival in a second guarantee time longer than the cyclic period is guaranteed and of which a sequence of information included is determined; and a communication management part configured to manage a communication schedule of the first control data (D01, D02, D1) and the second control data (D21), characterized in that , when new second control data (D22) is acquired while the second control data (D21) is divided into a plurality of communication data and communicated according to the cyclic period, wherein a communication target slave device for this new second control data (D22) is the same as that of the second control data (D21), the communication management part determines a communication sequence of the plurality of second control data (D21) according to priorities of the plurality of second control data (D21), and wherein, when a priority of the new second control data (D22) is higher than a priority of the second control data (D21) that is being communicated, the communication management part temporarily stops communication of the second control data (D21) that is being communicated and performs communication of the new second control data (D22), and after communication of the new second control data (D22) is completed, the communication management part resumes communication of the second control data (D21) that is temporarily stopped. <EOS>