A communication system includes a first device and a second device connected to the first device by a single communication line. The first device includes a first transmitting portion which transmits to the second device a pulse signal set to a predetermined cycle that differs according to data, and a first receiving portion which reads data transmitted from the second device based on a voltage value of a transmission signal transmitted over the communication line. The second device includes a second transmitting portion which transmits to the first device a voltage signal set to a predetermined voltage value that differs according to the data, and a second receiving portion which reads data transmitted from the first device based on a pulse signal cycle of the transmission signal transmitted over the communication line.