text: <s>[INST] 'position' and non position Summary: CIP Motion architecture What is the position and non-position in the IAB software? [/INST] There is no difference in part numbers between position and non-position drives. The difference matters to the communication module which will be talking to the drives. The 1756-EN2Xx Ethernet/IP cards can talk to up to 128 non-position drives, and up to 8 position drives (each position drive on the network decreases the number of non-position drives to which it can talk). http://literature.rockwellautomation.com/idc/groups/literature/documents/wp/motion-wp001_-en-p.pdf Look at page 48 of the PDF link above. EN3x Ethernet cards can talk to up to 128 drives of either type. Essentially, if you want position control and are using EN2Xx cards for communication, you can only have 8 per card. You can use the servos for velocity control and have many more. IAB is asking the question so it can help you figure out the network requirements. If you tell it you want 10 servo drives, all in position mode, it's going to come back and say you need 2x of 1756-EN2TR, or a single 1756-EN3TR. \\n </s>