This paper presents a coordinator-based TDMA reader protocol that can avoid the reader collision in a passive RFID system. In the proposed protocol, the coordinator can not only minimize the number of empty slots by efficiently allocating slots to readers incoming in Poisson distribution, but reduce latency time through the limited frame size. The proposed protocol can be implemented in either mobile or fixed mode through the slot structure to be described in the context. The simulation results show it works as suggested and the frame size limitation as well as the statistical distribution of incoming readers has a great impact on the overall slots and the average latency time.