To continuously carry out control operation of a slave unit even when communication data are omitted.
A slave unit comprises: a timer 11 which is cleared by a communication timing signal 5, a comparison value setting means 12, a comparator 13 which outputs a matching signal 14, and an initiation signal generating means 15 for outputting a slave control initiation signal 16 when the communication timing signal 5 or the matching signal 14 is inputted. When the communication timing signal 5 is inputted, a timer value corresponding to the time adding a timing margin Tm to one communication cycle is set as a comparison value 12a and when the matching signal 14 is inputted, a value adding a timer value corresponding to one communication cycle to the present comparison value 12a is set as a new comparison value 12a.
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Daisuke Nagano
Kentaro Fujii