A control system synchronizes input timing and output timing between functional units, while achieving the contradictory aspect of shortening the communication cycle of data frames transferred on a network. An information processing apparatus calculates parameters for the functional units included in a slave device in accordance with a mode selected from a plurality of available modes. The modes include a first mode in which timing to obtain a status value from the control target and timing to update an output value for the control target are synchronized between all the functional units included in the slave device, and a second mode in which the timing to obtain a status value from the control target and the timing to update an output value for the control target are synchronized between specific functional units included in the slave device.