A method of synchronizing node clocks within a plurality of nodes (10 to 14) on a network including a time master node having a master clock and including at least one time slave node (11 to 14), the method comprising: connecting the plurality of nodes (10 to 14) through a full duplex Ethernet network with a daisy-chain connection of the nodes (10 to 14) to each other; transmitting a time synchronization message frame from a first one of the plurality of nodes (10 to 14) to a second one of said plurality of nodes (10 to 14), the time synchronization message frame having a timestamp field according to IEEE 1588 standard, a checksum field and a cyclic redundancy checking code; at a given one of the plurality of nodes between the first and second nodes: receiving the time synchronization message frame; reading a timestamp value of the timestamp field of the time synchronization message; characterized by near a time of retransmission of the time synchronization message frame from the given node, adjusting the read timestamp value in the timestamp field by an amount of delay between a time of reception at the given node and a time of the retransmission from the given node; adjusting a checksum value in the checksum field and adjusting the cyclic redundancy checking code of the time synchronization message frame to account for adjusting the timestamp value; and transmitting the time synchronization message frame from the given node, wherein a highest priority is provided to process and forward the time synchronization message frame and lower priorities are provided to process and forward other types of message frames. connecting the plurality of nodes (10 to 14) through a full duplex Ethernet network with a daisy-chain connection of the nodes (10 to 14) to each other; transmitting a time synchronization message frame from a first one of the plurality of nodes (10 to 14) to a second one of said plurality of nodes (10 to 14), the time synchronization message frame having a timestamp field according to IEEE 1588 standard, a checksum field and a cyclic redundancy checking code; at a given one of the plurality of nodes between the first and second nodes: receiving the time synchronization message frame; reading a timestamp value of the timestamp field of the time synchronization message; characterized by near a time of retransmission of the time synchronization message frame from the given node, adjusting the read timestamp value in the timestamp field by an amount of delay between a time of reception at the given node and a time of the retransmission from the given node; adjusting a checksum value in the checksum field and adjusting the cyclic redundancy checking code of the time synchronization message frame to account for adjusting the timestamp value; and transmitting the time synchronization message frame from the given node, receiving the time synchronization message frame; reading a timestamp value of the timestamp field of the time synchronization message; characterized by near a time of retransmission of the time synchronization message frame from the given node, adjusting the read timestamp value in the timestamp field by an amount of delay between a time of reception at the given node and a time of the retransmission from the given node; adjusting a checksum value in the checksum field and adjusting the cyclic redundancy checking code of the time synchronization message frame to account for adjusting the timestamp value; and transmitting the time synchronization message frame from the given node, wherein a highest priority is provided to process and forward the time synchronization message frame and lower priorities are provided to process and forward other types of message frames.