Communication system and gripping system

A communication system,

• comprising a plurality of nodes, each of which connected via a bus and transmitting to the bus a frame comprising a frame ID indicating a priority order, and when two or more of the nodes transmit the frame at the same time, performing, among the nodes starting transmission at the same time, communication arbitration by stopping transmission of the frame except for the node transmitting the frame having a highest priority,
• wherein the frame ID comprises a type ID indicating a type of the node that is a transmission source, a change ID changeable by the node that is the transmission source, and a fixed ID specific to the node that is the transmission source, wherein the type ID, the change ID, and the fixed ID are provided in the frame in order as described;
• the type comprises a master and slaves;
• when the type ID is the master, a priority of the frame is set higher than when the type ID is the slave;
• the node that is the master is capable of transmitting to the bus an instruction signal instructing the node that is the slave to change the change ID;
• and
• when the node that is the slave receives the instruction signal, the change ID comprised in the frame is changed according to the instruction signal.