A control device includes an interface for outputting a command value to a motor driver adapted to drive a motor, a storage portion adapted to store one or more commands for specifying a behavior of the motor driven by the motor driver, and a processing portion including a first arithmetic circuit and a second arithmetic circuit. The first arithmetic circuit is adapted to execute a first process for successively interpreting the one or more commands stored in the storage portion and for successively calculating a parameter set which defines a function relating to calculation of the command value. The second arithmetic circuit is adapted to execute a second process for calculating the command value based on the successively-calculated parameter set, in each predetermined control cycle, independently of the first process.