text: <s>[INST] Ethernet Encoder (842E-CM-MIP3BA) for 2 controllers My understanding is that these encoders (842E-CM-MIP3BA) are configured as AXIS_CIP_DRIVE in a logix controller which, similar to a CIP drive cannot be connected to two controllers simultaneously. Our applpication involved gearing the axis to an internal virtual axis on each controller for psoition tracking. These encoders should in my mind be able to operate listen only, i.e. broadcasting timestamped encoder values, but I am doubting that this is possible. I'd love to hear otherwise; has anyone experience with these ethernet encoders? [/INST] You are correct, one controller wants to own the encoder. What are the real axes on your system? If they are K350, or K6500, those take auxiliary encoder inputs. You could use a regular incremental encoder and an encoder splitter such as what Motrona offers to go to a drive in each machine. The auxiliary axis can then be configured as an axis within each processor. If you really want just one encoder, you would need all the axes in one motion group in one processor. Note, one of my coworkers tried to use the CIP motion ethernet encoders. He had a LOT of problems with one of them constantly dropping out, to the point that he abandoned them for traditional encoders. \\n </s>