Communication system

A communication system including communication devices communicating with each other in a daisy chain,

• the communication devices comprising:
• a master;
• and
• a plurality of slaves arranged first to last in a communication connection order from the master in the daisy chain,
• wherein:
• the master and the plurality of slaves include corresponding insulated communication circuits, respectively;
• the master is configured to
• (i) measure, with respect to a first slave being any one of the plurality of slaves, a first communication delay time between the master and the first slave from a first response time responding to a transmission to the first slave during a measurement period,
• (ii) calculate a first shift time of the first slave based on the measured first communication delay time, the first shift time being calculated to permit a first timing of an output of a first signal by the first slave to be equal to a second timing of an output of a second signal by a second slave being any one of the plurality of slaves other than the first slave, and
• (iii) transmit the first shift time to the first slave;
• and
• in response to receiving, from the master, an instruction of the output of the first signal after receiving the first shift time, the first slave is configured to perform the output of the first signal at a time when the first shift time elapses since a time when receiving, from the master, the instruction of the output of the first signal.