A configuration of control device capable of linking control applications even in a control system that combines a control device with another control device is provided. A first control device includes: a first program execution part outputting a first control command at every first cycle; a parsing part parsing at least a part of a first application program at every second cycle to sequentially generate an internal command; a command calculation part outputting a second control command at every first cycle according to the internal command generated by the parsing part; and an arbitration part managing a parsing process performed by the parsing part. The arbitration part adjusts an output timing of the second control command according to the internal command generated by the parsing part in response to notification of a timing from the second control device.