A coding method for coding control commands for actuators includes a system that is sensitive to data transmission errors and determines a degree of danger for the system by using a system control unit. A current transmission control command is coded to form a control command code word, by using the system control device, whereby the redundancy of the control command code word depends on the determined degree of danger. The control command code word from the system control device is transmitted to an actuator control unit and decoded to form a receiving control command. The receiving control command is checked for transmission errors and at least one actuator for carrying out the receiving control command is controlled when no transmission error is detected. An actuator control unit conducts the method.