Each device is allocated {TAIL ~ a fixed time} at which {HEAD ~ its input and diagnosis data} is transmitted as data frames to the controller 200 
at is transmitted
Each device is allocated { TAIL ~ a fixed time } at which { HEAD ~ its input and diagnosis data } is transmitted as data frames to the controller 200
OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL TAIL REL OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL REL OTH OTH OTH OTH OTH OTH OTH