JPH06335056A - Data transmission system for remote control system - Google Patents

Abstract

PURPOSE:To increase the slave station operation speed by interconnecting a master station and a slave station group with one transmission line and operating plural slave stations sequentially with the master station as a start point so as to reduce the time of operating all the operation slave stations. CONSTITUTION:After procedure data are sent from a master station 11 to all slave stations 121-125, the master station 11 sends data D1 to the slave station 121. The slave station 121 receives the data D1 and processes the data to make various operations and sends data D2 related to the operation to a slave station 123 to be operated next. Upon the receipt of the data D2, the slave station 123 processes the data and executes various operations and sends data D3 relating to the operation to a slave station 125 to be operated next. Upon the receipt of the data D3, the slave station 125 processes the data to make various operations and sends data D4 representing the end of operation of one frame to the master station 11. The master station 11 processes the data D4 to terminate one operation process.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a data transmission system for a remote control system, and more particularly to a data transmission system for a remote control system in which a plurality of slave stations are sequentially operated for processing by starting from a master station. is there.

In a remote control system, the number of wirings between the master station and the slave station group is reduced and the operation speed is increased in accordance with the increase in the number of slave stations and the kinds of operations required in the slave stations. There is a demand for higher speed.

On the other hand, there has already been provided a remote control system in which a master station and a plurality of slave stations are respectively connected by one transmission line, and data is transmitted and received between the master station and each slave station. However, in this case, there are many wirings between the master station and the slave station group, and it is difficult to increase the operating speed.

Therefore, in the remote control system, a data transmission method of the remote control system is desired, which can connect the master station and a plurality of slave stations with one transmission line and can increase the operation speed of the slave station. Has been done.

[0005]

2. Description of the Related Art FIG. 14 shows a connection configuration of a master station and a slave station group in a conventional system. 11 is the master station, 12 _1,
12 _2, ..., 12 _i, ..., 12 _m is a slave station, 13 _1, 13 _2, ...,
13 _i, ..., 13 _m are the master station 11 and the slave stations 12 _1, 12 respectively.
A transmission line connecting _2, ..., 12 _i, ..., 12 _m , where m
Is the total number of slave stations.

FIG. 15 shows a frame structure of transmission / reception data between a master station and each slave station in the conventional system.
In the figure, S _k (k = 1, 2, ..., K, ..., N) is the master station 11.
From the transmission data to each slave station 12 _1, 12 _2, ..., 12 _k, ..., 12 _n , R _k (k = 1, 2, ..., K, ..., N) is each slave station 12 ₁ in the master station 11. _, 12 _2, …, 12 _k, …, 12
Received data from _n , where n indicates the number of slave stations transmitting / receiving data in one operation step in the master station, and n ≦
m.

FIG. 16 shows an operation flow of transmission / reception between a master station and each slave station in the conventional system. Each slave station C (t _bk ) (k = 1 by one operation from the master station. , 2,
, K, ..., N) is shown.

In the conventional remote control system, FIG.
As shown in FIG. 4, the master station 11 and each slave station 12 _1, 12 _2,
, 12 _i, ..., 12 _m, and one transmission line 13 _1, 13 _2, ..., 13 _i, ..., 13 _m is provided between each of the slave stations and the master station. , Send and receive data.

[0009] Then, FIG. 15, as shown in FIG. 16, and transmits the transmission data S _k from the master station to the slave station C (t _bk), and processes it in the slave station C (t _bk), Various operations are performed (step 203), and the operation state is set to the slave station C (t _bk ).
From the master station to the master station as response data R _k (step 2)
04). In this way, the slave stations C (t _b1 ), C
By operating (t _b2 ), ..., C (t _bn ),
The control operation of one operation step is ended.

In this case, the time required for one operation process from the master station to each slave station C (t _bk ) is the time t _b1, t _b2, ... _, T _bk, required for transmitting and receiving data from the master station to each slave station _.
... _, the sum of t _bn .

[0011]

In the conventional remote control system, as shown in FIG. 14, when the number of slave stations in the group of slave stations increases, the number of transmission lines arranged increases.
Further, as shown in FIG. 15, when the number of slave stations operated in one operation step increases, the time required to operate all the operated slave stations becomes longer.

Therefore, there is a problem that the wiring area of the transmission line between the master station and the slave station group is large, and a malfunction due to noise is likely to occur. Further, there is a problem that it takes time to operate all the operation slave stations.

The present invention is intended to solve the problems of the prior art, and a master station and a plurality of slave stations are connected by a transmission line, and some of the slave stations start from the master station. In the remote control system that operates sequentially, the wiring area is reduced by using only one transmission line, and the time required to operate all operating slave stations is shortened to enable high-speed control. Has an aim.

[0014]

[Means for Solving the Problems] (1) FIG. 1 shows the basic configuration (1) of the present invention. The present invention provides a procedure data transmitting means S1 in a remote control system for processing data sequentially received between a master station and a plurality of slave stations via one transmission line and transmitting the data to the next station. Then, the master station transmits procedure data designating the data processing order and the processing content to each slave station first, and the processing timing determination means S2 is provided so that each slave station receiving the procedure data transmits its own station. The data processing means S3 is provided so that each slave station processes the data received from the master station or the slave station in the preceding order, and the data return means S is provided.
4 is provided to process the data received by the slave station in the final order specified by the procedure data and transmit the data to the master station, and failure notification means S5 is provided to prevent a failure during data processing at each slave station. When a fault occurs, the slave station transmits the fault occurrence data to the master station, and such means are sequentially repeated for each operation step.

(2) FIG. 2 shows the basic configuration (2) of the present invention. The present invention is intended to solve such a problem of the conventional technique, and processes data sequentially received between a master station and a plurality of slave stations via one transmission line and sends the processed data to the next station. In the remote control system for performing the transmitting operation, the procedure data transmitting means S1 is provided, and the procedure data for designating the processing order and the processing content of the data is first transmitted from the master station to each slave station, and the processing timing is judged. Means S2
Is provided, each slave station that receives the procedure data determines the timing of data reception and processing at its own station, and the data processing means S3 is provided so that each slave station receives from the master station or the preceding slave station. Data is processed, data transmission / reception end determination means S6 is provided, it is determined that the data transmission / reception time designated by the procedure data has ended, and failure notification means S5 is provided to cause a failure during data processing at each slave station. When this occurs, this slave station stops transmitting data to the next slave station and transmits failure occurrence data indicating failure occurrence to the master station. It is configured by repeating in sequence.

[0016]

FIG. 3 shows a connection configuration of a master station and a slave station group in the method of the present invention. The same elements as those in FIG. 14 are designated by the same numbers, and 14 is a transmission line. The present invention has a first mode and a second mode. Hereinafter, FIGS. 4 and 5 show the first mode, and FIGS. 6 and 7 show the second mode.

FIG. 4 shows a frame structure (1) of transmission / reception data between the master station and each slave station in the method of the present invention. In the figure, P is from the master station 11 to all the slave stations 12 _1, 12
_2, ..., 12 _i, ... _, 12 _m are common procedure data, D _j (j = 1, 2, ..., j, ..., n-1) is between the master station and the slave stations and between the slave stations. It is transmission / reception data transmitted / received between a station and a slave station. Here, n-1 represents the number of slave stations that transmit and receive data by one operation in the master station, and n-1≤m.

In the present invention, as shown in FIG.
A master station 11 and a plurality of slave stations 12_1,12 _2,…, 12_i,…_,
12_mAnd are connected by one transmission line 14. And the book
In the first aspect of the invention, as shown in FIG.
Frame data is sent between the master station and slave stations, and between slave stations and slave stations.
Send and receive between. Here, the procedure data P is for each slave station.
Whether to receive data in the eye timeslot and its children
Contains content that indicates what data processing should be done at the station
From the master station 11 to all the slave stations 12_1,12
_2,…, 12_i,…_,12_mSent to.

Further, transmitted / received data D_jAt the first
Data D₁ Processes the data first from the master station 11 and
Slave station C (t₁ Data sent to
Is. Next data D₂ Is the first slave station C (t₁ )
With the work, the next slave station C (t ₂ ) The day that regulates the operation
The first slave station C (t₁ ) To the next operation slave station C
(T₂ ) Is sent to. After that, such data (D_1,
D₂ ), The same relationship as the data (D_2,D₃ ), (D_3,D
_Four ), ..., (D_n-2,D_n-1 ) About the next two children
Sequentially between stations, the last slave station C (t_n-1 ) Received data
D_n-1 And perform various actions, then
Data D shown in FIG. 4 based on_nTo the master station 11
To do. Data D_nIs the one-frame data shown in FIG.
This indicates that transmission / reception of data has been completed.

FIG. 5 shows an operation flow (1) of transmission and reception between the master station and each slave station in the method of the present invention,
By one operation from the master station, each slave station C (t _j ) (j =
1, 2, ..., J, ..., N) are remotely controlled.

First, each slave station receives the procedure data P,
It is determined when the own station should process the data, that is, in what time slot the data should be processed (step 101). Next, the data is processed first, and the slave station C (t ₁ ) performing various operations processes the data D ₁ (step 104). When in accordance with the operation of the slave station C (t ₁₎ fails, the slave station C (t ₁₎ transmits the failure data D ₂ to the master station (step 10
5, 108). In this case, the operation for one frame shown in FIG. 4 is completed.

[0022] When a failure has not occurred in the slave station C (t _1), the slave station C (t _1), relative to the received data D _1, and transmits the data D ₂ steps exactly (step 106) .
When the data D ₂ is the final data of one frame shown in FIG. 4, the master station performs the process and ends the operation of one frame (step 107). When it is not the final data, the next operator slave station C (t ₂ ) receives the data D ₂ .

After that, the data (D_1,D₂ ) In a similar relationship
Operation, data (D_2,D₃ ), (D _3,D_Four ), ..., (D
_n-2,D_n-1 ) According to the operation flow shown in FIG.
To execute. And, in general, the slave station C (t_j) Is the receiving device
Data D_jOccurs when processing various actions and performing various actions
If you do, slave station C (t_j) Is a failure for the master station
Data D_{j + 1} Is transmitted (step 108). in this case
Ends the operation of one frame shown in FIG.
It

When no fault occurs, the slave station C (t
_n-1 ) transmits the transmission data D _n to the master station, and when the master station processes this, the operation of one frame shown in FIG. 4 ends.

FIG. 6 shows a frame structure (2) of transmission / reception data between the master station and each slave station in the method of the present invention. In the figure, the same parts as those in FIG.
D _j (j = 1, 2, ..., J, ..., N−1) is transmission / reception data transmitted / received between the master station and the slave stations and between the slave station and the slave stations. Here, n−1 represents the number of slave stations that transmit and receive data by one operation in the master station, and (n−1) ≦ m.

Also in this case, as shown in FIG. 3, the master station 11 and the plurality of slave stations 12 _1, 12 _2, ..., 12 _i, ... _, 12 _m are connected by one transmission line 14. . Then, in the second operation mode of the present invention, data of one frame as shown in FIG. 5 is transmitted and received between the master station and the slave station and between the slave station and the slave station. The procedure data P and the data D _{1 to} D _n-1 transmitted / received between the master station and the slave station and between the slave station and the slave station are the same as in the first embodiment. However, the second mode lacks the data D _n transmitted from the operating slave station C (t _n-1 ) to the master station at the end of one frame in the first mode.

FIG. 7 shows an operation flow (2) of transmission / reception between the master station and each slave station in the method of the present invention.
By one operation from the master station, each slave station C (t _j ) (j =
1, 2, ..., J, ..., N-1) is shown.

The procedure data P and the data D _{1 to} D _n-1 transmitted and received between the master station and the slave station and between the slave station and the slave station are processed in the same manner as in the first embodiment. However, in the one-frame processing shown in FIG. 6, that is, one operation step in the second embodiment of the present invention, the slave station C (t _n-1 ) receives the received data D.
After processing _n-1 , terminate. That is, the procedure data P
When the data transmission / reception time designated in step 1 ends, one operation step ends (step 117).

As described above, in the first embodiment of the present invention, as shown in FIG. 4, the procedure data P and the data D transmitted / received between the master station and the slave station, and between the slave station and the slave station. ₁ ~ D
_Since one frame is configured by allocating _n in a time division manner, only one transmission line is required between the master station and the slave station group, and it is possible to shorten the time for operating all the operating slave stations. It is possible to increase the operation speed of the slave station.

Since the type of operation for the slave station group can be determined by the product of the procedure data P and the transmission data D ₁ from the master station, it is possible to perform various types of operations.

Further, when a failure occurs due to the operation of each slave station, the master station can immediately receive the failure information as shown in the operation flow of FIG.

Further, in the second embodiment of the present invention, as shown in FIG. 6, the data transmitted / received between the master station and the slave station and between the slave station and the slave station are the procedure data P and the data. D ₁ ~ D
_{It is n−1} , and as compared with the first embodiment of the present invention, the time of one operation step can be shortened by the transmission / reception time of the reception data D _n in the master station.

[0033]

[Embodiment] FIG. 8 shows a data transmission flow according to an embodiment (1) of the present invention. 11 is a master station, 12 _{1 to} 12
Reference numeral ₅ is a slave station, and 14 is a transmission line. Note that FIG.
In FIG. 3, the procedure data P that is transmitted first from the master station to all the slave stations is omitted.

FIG. 9 shows a data transmission frame according to the embodiment (1) of the present invention, in which (a), (b),
8C shows an example 1, an example 2, and an example 3 of the data transmission frame, which correspond to the example 1, the example 2, and the example 3 of the data transmission flow in FIG. 8, respectively.

In the case of the example 1, the master station 11 to all the slave stations 12 ₁ ...
After the procedure data P is transmitted to 12 ₅ , the master station 1
1 transmits data D ₁ to the slave station 12 ₁ . Child station 1
The 2 ₁ receives the data D ₁ , processes it and performs various operations, and then transmits the data D ₂ which is dependent on this operation to the slave station 12 ₃ to be operated next.

When the slave station 12 ₃ receives the data D ₂ ,
After processing this and performing various operations, the data D ₃ dependent on this operation is transmitted to the slave station 12 ₅ to be operated next.

When the slave station 12 ₅ receives the data D ₃ ,
After processing this and performing various operations, data D ₄ which is dependent on this operation and which indicates that the operation of one frame has ended is transmitted to the master station 11. In the master station 11,
The data D ₄ is processed to complete one operation step.

In Example 2, the slave station 12 in Example 1 is used.
₃ shows the case where a failure occurs. The process up to the point where the slave station 12 ₃ receives the data D ₂ is the same as in the case of the example 1. Since slave station 12 ₃ failure when performing various operations and processes the data D ₂ generated, the slave station 12 ₃ parent station 11
The fault occurrence data D ₃ is transmitted to

In Example 3, the master station 11 to all the slave stations 12
_{After the} procedure data P is transmitted to _{1 to} 12 ₅ , the master station 11 transmits the data D ₁ to the slave station 12 ₃ . The mobile station 12 ₃ receives the data D ₁ , processes the data D ₁ and performs various operations, and then transmits the data D ₂ dependent on this operation to the mobile station 12 ₄ to be operated next.

When the slave station 12 ₄ receives the data D ₂ ,
After processing this and performing various operations, the data D ₃ dependent on this operation is transmitted to the slave station 12 ₅ to be operated next.

When the slave station 12 ₅ receives the data D ₃ ,
After processing this and performing various operations, the data D ₄ dependent on this operation is transmitted to the slave station 12 ₂ . Child station 12
_When receiving the data D ₄ , the data ₂ processes the data D ₄ and performs various operations. Then, the data ₂ is subordinate to this operation and the data D ₅ indicating that the operation of one frame is completed is transmitted to the master station 11 Send to. The master station 11 processes the data D ₅ and ends one operation step.

As described above, in the present invention, the data flow between the slave stations does not have to be in the order of the slave station numbers. That is, like the data D ₄ in the example 3, the data may be transmitted in the direction opposite to the order of the slave station numbers.

FIG. 10 shows a data transmission flow of the embodiment (2) of the present invention, and the same components as those in FIG. 8 are designated by the same numbers. Note that, in FIG. 10, the procedure data P that is first transmitted from the parent station to all the child stations is omitted.

FIG. 11 shows a data transmission frame according to the embodiment (2) of the present invention, in which (a), (b),
10C shows an example 1, an example 2, and an example 3 of a data transmission frame, respectively, an example 1 of the data transmission flow in FIG.
It corresponds to Example 2 and Example 3.

In the case of Examples 1 and 3, at the end of one frame,
Data transmitted from the slave station to the master station (data D ₄ in the example 1 of FIGS. 8 and 9 and data D ₅ in the example 3) are not transmitted.

In the process of sequentially operating each slave station, if a failure occurs in a certain slave station, the same processing as that shown in FIGS. 8 and 9 is performed. In the case of example 2, the slave station 12 ₃
After There received data D _2, since processes the data D ₂ fault when performing various operations have occurred, the slave station 12 ₃
Transmits the fault occurrence data D ₃ to the master station 11 and stops the subsequent data transmission / reception between the slave stations.

FIG. 12 shows an example of the construction of a slave station in the system of the present invention. In the figure, 14 is a transmission line, 20 is a bidirectional buffer, and 21 is a shift register (S.
R), 22 is a flip-flop (FF), 23 is a coincidence determination unit, and 24 is a monostable multivibrator (MM).
V), 25 and 26 are AND circuits, 27 is an inverter, 2
8 is a flip-flop (FF), 29 is a first-in first-out memory (FIFO), 30 is an OR circuit, 31 is an AND circuit, 32 is a shift register (SR), and 33 is a data processing unit. , 34 is a slave station peculiar procedure data storage unit, 35 is a slave station number setting unit, 36 is a first control unit, 37 is a second control unit, and 38 is an inverter.

FIG. 13 is a time chart showing signals at respective parts in the slave station shown in FIG. In the figure, * C
K1 is an inverted signal of the clock CK1, S1 is a slave station input signal, S4 is an output signal of S / R21, and CK2 is F / F22.
Input clock, S5 is an output signal of F / F22, S7 is an output signal of the match determination unit 23, S8 is an output signal of the MMV24, CS1 (1) and CS1 (2) are output signals of the OR circuit 30, and CS2 (1 ), CS2 (2) is an output signal of S / R32.

In FIG. 12, the signal input from the master station to the slave station via the transmission line 14 is S in FIG.
1, the procedure data P and the transmission / reception data D _{1 to} D
_It shall consist of ₅ . The signal S1 is input to the S · R21 via the bidirectional buffer 20. If the procedure data P is 4 bits, the output signal of the S / R 21 is 4 bits (Q _{1 to} Q ₄ ). That is, in the case of FIG. 12, S
The most significant bit of R21 is Q _P = Q ₄ .

When the head bit of the procedure data P is output to the output signal Q ₄ of the S · R21, the F · F22 receives the S · R2 by the clock CK2 output from the control unit 36.
The output of 1 is latched and the signals Q _{1 to} Q ₄ are output. Figure 1
3, Pb ₁ in the signal S5 is the procedure data P
Corresponds to the first bit of.

The contents of the procedure data P to be used are stored in the slave station specific procedure data storage section 34 in advance, and
A number unique to the slave station is set in advance in the slave station number setting unit 35.

The coincidence judging section 23 compares the output signals Q _{1 to} Q ₄ of the F / F 22 with the procedure data S6 from the procedure data storage section 34 for the slave station, and determines whether the procedure data is used by the slave station. It is determined whether or not, and if it is the procedure data used in the slave station, the pulse signal shown in S7 in FIG. 13 is generated. If it is not procedure data, signal S7
Are all "L" (low level).

When the signal S7 is input, the MMV 24 outputs the signal S8 which becomes "H" (high level) for T _m time from its rising. Where time T _m is M
It is determined by a resistance value and a capacitance value (not shown) for time setting in the MV 24.

When the slave station shown in FIG. 12 is the slave station C (t ₁ ) which receives the transmission data D ₁ from the master station,
The output signal CS1 of the OR circuit 30 is CS1 shown in FIG.
It becomes like (1). When the slave station is the slave station C (t ₃ ) that receives the transmission data D ₃ from the master station, the output signal CS1 of the OR circuit 30 is CS1 shown in FIG.
It becomes like (2). All this happens except when the slave receives the data D ₁ . That is, the signal S8 in FIG. 13 is delayed by the FIFO 29 to the time slot position of the received data and output as the signal CS1.

The signals CS2 (1) and CS2 (2) are obtained by converting the signals CS1 (1) and CS1 (2) into S / R32.
By delaying, each is obtained. In FIG. 13, the number of bits of the data D _i is delayed by 0.5 bit, that is, 3.5 bits. The slave station shown in FIG. 12 controls the bidirectional buffer 20 by the signal CS2 to bring it into a data transmission state.

The AND circuit 31 extracts the data S10 from the slave station reception signal S9 by the signal CS1, and the data processing section 33 processes the data S10 and outputs the transmission data S3 as a response data signal. The transmission data S3 is
It is output to the transmission line 14 via the bidirectional buffer 20.

The control unit 36 and the control unit 37 output a clock signal for controlling each circuit of the slave station according to the output signal S6 of the slave station specific procedure data storage unit 34.

[0058]

As described above, according to the present invention, in a remote control system including a master station and a plurality of slave stations,
Data to be transmitted / received between the master station and the slave stations, and between the slave station and the slave stations are allocated in a time division manner to form one frame, and each time the slave station receives the data, the response data to this is transmitted to the master station Instead, multiple slave stations are operated sequentially starting from the master station, so only one transmission line is required between the master station and slave stations, and the time to operate all slave stations is shortened. Therefore, it is possible to improve the slave station operating speed.

Further, according to the present invention, when a failure occurs due to the operation of each slave station, the failure occurrence data is returned to the master station, so that the master station can immediately recognize the occurrence of the failure. it can.

In another embodiment of the present invention, in one frame of data transmitted / received between the master station and the slave station, and between the slave station and the slave station, the final operation of the last frame of the one frame transmitted from the slave station to the master station. Since the time slot data can be deleted, the time required to operate one frame can be shortened.

[Brief description of drawings]

FIG. 1 is a diagram showing a basic configuration (1) of the present invention.

FIG. 2 is a diagram showing a basic configuration (2) of the present invention.

FIG. 3 is a diagram showing a connection configuration of a master station and a slave station group in the method of the present invention.

FIG. 4 is a diagram showing a frame configuration (1) of transmission / reception data between a master station and each slave station in the system of the present invention.

FIG. 5 is a diagram showing an operation flow (1) of transmission and reception between a master station and each slave station in the system of the present invention.

FIG. 6 is a diagram showing a frame configuration (2) of transmission / reception data between a master station and each slave station in the system of the present invention.

FIG. 7 is a diagram showing an operation flow (2) of transmission / reception between a master station and each slave station in the system of the present invention.

FIG. 8 is a diagram showing a data transmission flow according to the embodiment (1) of the present invention.

FIG. 9 is a diagram showing a data transmission frame according to the embodiment (1) of the present invention, in which (a), (b) and (c) show examples 1, 2 and 3 of the data transmission frame.

FIG. 10 is a diagram showing a data transmission flow according to the embodiment (2) of the present invention.

FIG. 11 is a diagram showing a data transmission frame according to the embodiment (2) of the present invention, in which (a), (b) and (c) show examples 1, 2 and 3 of the data transmission frame.

FIG. 12 is a diagram showing a configuration example of a slave station in the system of the present invention.

FIG. 13 is a time chart showing signals of respective parts in the slave station shown in FIG.

FIG. 14 is a diagram showing a connection configuration of a master station and a slave station group in a conventional method.

FIG. 15 is a diagram showing a frame structure of transmission / reception data between a master station and each slave station in the conventional method.

FIG. 16 is a diagram showing an operation flow of transmission and reception between a master station and each slave station in the conventional method.

[Explanation of symbols]

 S1 procedure data transmission means S2 processing timing determination means S3 data processing means S4 data return means S5 failure notification means S6 data transmission / reception end determination means

Claims (2)

[Claims] 1. A remote control system for processing data sequentially received between a master station and a plurality of slave stations via one transmission line and transmitting the processed data to the next station. Procedure data transmitting means (S1) for transmitting procedure data designating a processing order and processing contents of data to the slave station, and timing of reception and processing of data in each slave station receiving the procedure data Processing timing determination means (S2), data processing means (S3) for processing data received by each slave station from the master station or the slave station of the previous rank, and the slave of the final rank specified by the procedure data. A data return means (S4) for processing the data received by the station and transmitting the data to the master station, and the slave station transmitting the failure data to the master station when a failure occurs during data processing at each slave station. Failure notification means (S5
And a data transmission system for a remote control system, characterized in that each of the means is sequentially repeated for each operation step. 2. A remote control system for processing data sequentially received between a master station and a plurality of slave stations via one transmission line and transmitting the processed data to the next station. Procedure data transmitting means (S1) for transmitting procedure data designating a processing order and processing contents of data to the slave station, and timing of reception and processing of data in each slave station receiving the procedure data Processing timing determining means (S2), data processing means (S3) for processing data received by each slave station from the master station or the slave station in the preceding order, and the data transmission / reception time designated by the procedure data. Data transmission / reception end determination means (S6) for determining the end
And a fault notification means for stopping the transmission of data to the next slave station when a fault occurs during data processing in each slave station and transmitting fault occurrence data indicating a fault occurrence to the master station. (S5)
And a data transmission system for a remote control system, wherein each of the means is sequentially repeated for each operation step.