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

A motion control program that causes a computer to function as: a reception unit on a non-real-time OS that receives a control command 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 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; and a communication module unit that obtains an interpolation command, 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.