We are developing a frequency-division multiplexing (FDM) readout system aimed to realize the 400-pixel TES microcalorimeter array for the DIOS mission as well as large-format arrays with more than a thousand of TES for future space missions such as the ATHENA mission. The system consists of a low-power superconducting quantum interference device (SQUID), a digital flux-locked loop (FLL) electronics, and an analog front-end to bridge the SQUID and the FLL electronics. Using the developed readout system, we performed a TES readout experiment, and succeeded to multiplex TES pixels with a simple single-staged cryogenic setup. In this talk, I will review astrophysical motivations, TES (and some non-TES) microcalorimeters, SQUIDs, multiplexing readout techniques, the result from the readout experiment, and future prospects.