A method for transmitting asynchronous data includes including: comparing a size of asynchronous data with that of an empty transmission area; inserting the asynchronous data into the empty transmission area when the asynchronous data has a size smaller than or equal to that of the empty transmission area; determining if the empty transmission area has a size larger than a predetermined threshold value when the asynchronous data has a size larger than that of the empty transmission area; transmitting the asynchronous data with the empty transmission area left when the empty transmission area has a size smaller than the predetermined threshold value; and segmenting the asynchronous data according to the size of the empty transmission area when the empty transmission area has a size larger than the predetermined threshold value, inserting the segmented asynchronous data into the empty transmission area, and transmitting remaining segmented asynchronous data in a subsequent transmission cycle.