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