Communication device, communication system and communication control method

1 . A communication device comprising:

a processor; and

a communication part that is configured to communicate with one or more slaves, wherein the processor has a function of executing

communication processing of causing the communication part to transmit a data frame including main data to the one or more slaves in a first period, and

setting processing of setting N second periods, where N is an integer of 2 or more, within the first period and a slot for performing communication of sub-data other than the main data for each of the N second periods,

the data frame includes the slot during a transmission period of the main data,

the main data includes a plurality of main data pieces,

the processor is configured to divide the plurality of main data pieces in the N second periods, the divided main data pieces being transmitted in the communication processing, and

the processor is configured to set the second period based on at least one of the first period, a data size of the main data, and a data size of the sub-data in the setting processing.

2 . The communication device according to claim 1 , wherein the setting processing includes allocating the slot to at least one slave of the one or more slaves for each of the N second periods.

3 . The communication device according to claim 1 , wherein the data frame includes data for controlling the one or more slaves in the first period.

4 . The communication device according to claim 1 , wherein the data frame includes data for synchronizing operations of the one or more slaves.

5 . The communication device according to claim 1 , wherein the one or more slaves are daisy-chained to the communication device.

6 . The communication device according to claim 1 , wherein the processor further has a function of executing division processing of dividing the main data into the plurality of main data pieces.

7 . The communication device according to claim 6 , wherein the plurality of main data pieces each have a data size that is allowed based on a length of the second period.

8 . The communication device according to claim 1 , wherein the processor is configured to set, as the second period, a period that is an integral multiple of a communication period that is capable of being handled by the one or more slaves in the setting processing.

9 . The communication device according to claim 1 , wherein at least one slave of the one or more slaves is a motor drive device that drives a motor.

10 . A communication system, comprising:

the communication device according to claim 1 ; and

the one or more slaves that are connected to the communication device and communicate with the communication device.

11 . The communication device according to claim 1 , wherein the data frame includes the slot for at least one time during the transmission period of the main data.

12 . The communication device according to claim 1 , wherein the processor is configured to set the second period based on the first period.

13 . The communication device according to claim 1 , wherein the processor is configured to set the second period based on the data size of the main data.

14 . The communication device according to claim 1 , wherein the processor is configured to set the second period based on the data size of the sub-data.

15 . A communication control method comprising:

causing a data frame including main data to be transmitted to one or more slaves connected to a communication device in a first period; and

setting N second periods, where N is an integer of 2 or more, within the first period and a slot for performing communication of sub-data other than the main data for each of the N second periods, wherein

the data frame includes the slot during a transmission period of the main data,

the main data includes a plurality of main data pieces, and

the method comprises dividing the plurality of main data pieces in the N second periods, the divided main data pieces being transmitted in the communication processing, and setting the second period based on at least one of the first period, a data size of the main data, and a data size of the sub-data in the setting.

16 . The communication control method according to claim 15 , wherein the data frame includes the slot for at least one time during the transmission period of the main data.

17 . The communication method according to claim 15 , wherein the setting the second period is performed based on the first period.

18 . The communication method according to claim 15 , wherein the setting the second period is performed based on the data size of the main data.

19 . The communication method according to claim 15 , wherein the setting the second period is performed based on the data size of the sub-data.