Motion control program, motion control method, and motion control device

A motion control program is provided which causes a computer to function as: a reception unit on a non-real-time OS that receives a control command from a user-created program that controls a plurality of control target devices, and notifies a control unit of control command information indicating a content of the received control command; the control unit on a real-time OS that generates an interpolation command for each of the control target devices repeatedly for each of motion control cycles based on the control command information notified from the reception unit, and stores the generated interpolation command in a memory area which is reserved for each of the control target devices; and a communication module unit on a real-time OS that obtains an interpolation command from the memory area reserved for each of the control target devices, converts the obtained interpolation command from a predetermined signal format which can be recognized by the control unit into a signal format with a communication interface standard which can be recognized by each of the plurality of control target devices, and transmits the interpolation command.