The per-port peer delay provided by gPTP and the network bridge residence delay are added to calculate the accumulated delays and ensure the latency requirement is met. Control traffic has the third highest priority and includes gPTP and SRP traffic. IEEE 802.1Qav time-aware scheduler introduces Class CDT for realtime control data from sensors and command streams to actuators, with worst-case latency of 100 μs over 5 hops, and maximum transmission period of 0.5 ms.