A control system includes one or a plurality of functional units, and a control device for exchanging communication data transmitted circularly among the functional units. The control device selects, in accordance with an instruction from a user or in accordance with a predetermined condition, one transfer system of a first transfer system in which a computation processing unit transfers the communication data and a second transfer system in which a DMA controller transfers the communication data.

Provided is a control device that includes: a communication unit; one or more functional units; and a communication line connecting the communication unit and the one or the plurality of functional units. The communication unit includes: a computation processing unit in which a processor executes one or more tasks; a communication circuit which handles the transmission and reception of communication frames via the communication line; and a control circuit connected to the computation processing unit and the communication circuit. The control circuit includes: a first Direct Memory Access (DMA) core for accessing the computation processing unit; a second DMA core for accessing the communication circuit; and a controller which, in response to a trigger from the computation processing part, provides sequential commands to the first DMA core and the second DMA core in accordance with a predefined descriptor table.

Provided is a control device that includes: a communication unit; one or more functional units; and a communication line connecting the communication unit and the one or the plurality of functional units. The communication unit includes: a computation processing unit in which a processor executes one or more tasks; a communication circuit which handles the transmission and reception of communication frames via the communication line; and a control circuit connected to the computation processing unit and the communication circuit. The control circuit includes: a first Direct Memory Access (DMA) core for accessing the computation processing unit; a second DMA core for accessing the communication circuit; and a controller which, in response to a trigger from the computation processing part, provides sequential commands to the first DMA core and the second DMA core in accordance with a predefined descriptor table.

A control system includes one or a plurality of functional units, and a control device for exchanging communication data transmitted circularly among the functional units. The control device selects, in accordance with an instruction from a user or in accordance with a predetermined condition, one transfer system of a first transfer system in which a computation processing unit transfers the communication data and a second transfer system in which a DMA controller transfers the communication data.