Pneumatic actuators have been widely utilized in industrial robots and in welfare apparatuses, for example with their advantages of light weight, low cost, safety, and high compliance. However, driving them needs not only the air supply line from compressor but also many electrical lines from controller to valve, making the pneumatic drive system complicated. This research proposes a new control method for the deletion of electrical control lines in pneumatic mechatronics. This method needs two technical challenges; acoustic communication system and power supply device for each local module. First, we explain the outline of a multiplex pneumatic actuator drive method. Secondly, acoustic communication system using a microcomputer (PSoC) is shown, where carrier frequency is optimized with a basic experiment. Thirdly, the design of a power supply device is shown with experimental results. Finally, a multiplex pneumatic actuator drive method is constructed with the acoustic communication system and power supply device. This prototype system works very well to show the great potential of this proposed control method. It controls successfully three pneumatic cylinders independently which are connected with an air supply line of 10[m].