An apparatus includes at least one of an actuator or a heater, and a controller that controls the at least one of the actuator or the heater. The controller: obtains an application defined by a plurality of blocks that drive the at least one of the actuator or the heater, each of the plurality of blocks including a parameter for driving the at least one of the actuator or the heater; consults a first rule that defines a first parameter range within which the at least one of the actuator or the heater is not permitted to be driven, and modifies the application by changing at least one block included in the plurality of blocks, the at least one block including a parameter included in the first parameter range; and drives the at least one of the actuator or the heater based on the modified application.