A motion controller is provided which improves system responsiveness without having to raise the arithmetic capacity of a master controller or to boost the communication speed of a network.The master controller 1 uses a program analysis unit 1g to separate, from a control program designating a tolerable delay time for operating control target apparatuses, a slave use program to be executed by a slave controller in a manner not to exceed the tolerable delay time, and to create slave-to-slave communication setting information needed by the slave controller to execute the slave use program. Through slave-to-slave communication, the slave controller 2 acquires input/output information from another slave controller. The slave controller 2 also uses a slave use program execution unit 2f to execute its own slave use program.