A total time necessary for work is shortened by reducing program correcting. A control device has a teaching program storage storing a teaching program, a command interpreter transmitting a movement-related command to a movement-related command separator, determining whether the command is a synchronous interval command or an asynchronous interval command and separating the movement-related command into command of each device according to a determination result, and executing a non-movement-related command, a movement-related command buffer selecting one of the transmission of the movement-related command to the sub-locus calculator and accumulating movement-related command therein based on a device movement state, a main locus calculator calculating movement information on the device on which synchronous control is performed from the movement-related command, a sub-locus calculator calculating movement information on the device that is not a synchronous control target based on the movement-related command, and a motor driver performing operations of the devices.

A synchronization control device (10) includes: a main axis command calculator (Cmm) that calculates a main axis command position based on time-series target position information; a main axis modeler (Mm) that calculates a predicted main axis feedback position by a dynamic characteristic model of a main axis servo control mechanism (20) by inputting the main axis command position, a main axis feedback position, and a predicted main axis command position after a predetermined time calculated based on the target position information; and a driven axis command calculator (Cms) that calculates a driven axis command position based on the predicted main axis feedback position. This configuration achieves synchronization control that improves the accuracy of synchronous drive of the driven axis.

A control device which synchronizes and controls a master device and a slave device at a fixed period when the number of axes of the master device differs from the number of axes of the slave device is provided. A computing unit includes a coordinate transformation unit which performs coordinate transformation from a coordinate system of the master device into a coordinate system of the slave device for a command value for each axis or a measured current value of each axis of the master device at a fixed period and a synchronization computing unit which performs synchronization computation for maintaining the position of the master device and the position of the slave device in a predetermined corresponding relation for coordinate transformation result values obtained through the coordinate transformation. In this manner, a command value for each axis of the slave device is obtained.