Abstract: The program for a control system can be created in a relatively short time, and a program that has been used in the past can be re-used. A user without specialist knowledge can change the operation and control of the controlled elements. These features are achieved by establishing a program which has standardized modes and mode transitions for each controlled element comprising a system to be controlled. A program for each controlled element is then created by starting with this standardized program and changing the parameters to suit each particular controlled element. If the operation and control of the controlled elements have to be altered, an operating chart which the user has written out is translated into a language which the control system can understand and the program is automatically altered.

Abstract: Centralized registers in which commands can be written are provided in correspondence with a plurality of control modules. Centralized registers for managing the pre-emption status of control modules and their tree-configuration hierarchical relations are also provided in correspondence with a plurality of control modules. Control modules to which a command should be transmitted are specified by looking up the registers that manage the pre-emption status and the tree-configuration hierarchical relations. When control modules have been specified, the latched command is written to the registers in which commands can be written.