An imaging system for printing an image on a substrate, comprising: a plurality of printers (102a, 102b) each having a first controller and a substrate unit having a second controller, each printer comprising: a print head, configured to print image data in a swath along a first direction, a first controller, configured to control a motion of the printer head in the first direction, and a first communication module, configured to receive communications to inform the first controller that printing of the swath is authorized, and send communications to inform the second controller that printing of the swath is completed, and; the substrate unit, comprising: the second controller, configured to control motion of the substrate in a second direction of the substrate, a second communication module, configured to send communications to inform each of the plurality of printers (102a, 102b) that printing of the swath is authorized, and receive communications from each of the plurality of printers (102a, 102b) indicating that printing of the swath is completed, the imaging system being characterized in that the first controllers and the second controller are separate and independent, the plurality of printers (102a, 102b) communicating with the substrate unit and configured for printing on the same substrate. a plurality of printers (102a, 102b) each having a first controller and a substrate unit having a second controller, each printer comprising: a print head, configured to print image data in a swath along a first direction, a first controller, configured to control a motion of the printer head in the first direction, and a first communication module, configured to receive communications to inform the first controller that printing of the swath is authorized, and send communications to inform the second controller that printing of the swath is completed, and; a print head, configured to print image data in a swath along a first direction, a first controller, configured to control a motion of the printer head in the first direction, and a first communication module, configured to receive communications to inform the first controller that printing of the swath is authorized, and send communications to inform the second controller that printing of the swath is completed, and; the substrate unit, comprising: the second controller, configured to control motion of the substrate in a second direction of the substrate, a second communication module, configured to send communications to inform each of the plurality of printers (102a, 102b) that printing of the swath is authorized, and receive communications from each of the plurality of printers (102a, 102b) indicating that printing of the swath is completed, the imaging system being characterized in that the first controllers and the second controller are separate and independent, the plurality of printers (102a, 102b) communicating with the substrate unit and configured for printing on the same substrate. the second controller, configured to control motion of the substrate in a second direction of the substrate, a second communication module, configured to send communications to inform each of the plurality of printers (102a, 102b) that printing of the swath is authorized, and receive communications from each of the plurality of printers (102a, 102b) indicating that printing of the swath is completed, the imaging system being characterized in that the first controllers and the second controller are separate and independent, the plurality of printers (102a, 102b) communicating with the substrate unit and configured for printing on the same substrate.