FIGS 27 and 28 show {HEAD ~ commands} and {TAIL ~ statuses} used in the controller 100 in detail 
FIGS 27 and 28 show { HEAD ~ commands } and { TAIL ~ statuses } used in the controller 100 in detail
OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD OTH TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH