A control system includes a master, at least one slave, and a communication module arranged between the master and the at least one slave, through which the master and the at least one slave communicate. The master sends control commands for controlling the at least one slave and the at least one slave responds to the control commands of the master. The communication module relays the respective control commands and responses. The master transmits to the communication module in one or a plurality of requests at least one control command and at least one associated timing requirement, the communication module processes the request(s) by sending the at least one control command according to the at least one timing requirement to the at least one slave, and the communication module determines timing information concerning the communication with the at least one slave and sends said timing information to the master.