A motion control program that causes a computer to function as: a channel management unit on a real-time OS that creates an operation channel common to a plurality of reception units on a shared memory; the plurality of reception units on a non-real-time OS each of which instructs via the operation channel, when receiving a preparation instruction, a generation unit to generate a control command channel; the channel management unit that creates, on the shared memory, a control command channel associated with the user-created program that has provided the preparation instruction; the reception unit that receives a control command and stores control command information indicating a content of the received control command, in the control command channel; and a fixed-cycle processing unit that transmits an interpolation command to a control target device for each motion control cycle, based on the control command information obtained from the control command channel.