# ODVA CIP Motion

Protocols · `CIP Motion` · verification: source checked

CIP Motion is a motion-control profile for EtherNet/IP that defines drive-control extensions for servo and variable-speed drives. It supports torque, velocity, and position control, drive configuration, status, and diagnostics, and unicast or multicast communication. It uses synchronized end-device clocks and time-stamped messages so cyclic motion data can tolerate jitter on standard Ethernet.

## Specification

| Property | Value |
|---|---|
| Transports | tcp, ethernet_l2 |
| Architecture | producer consumer |
| Encoding | binary |
| Standard body | ODVA |
| Standard ref | IEEE 802.3 |

## Connected

- Related: [EtherNet/IP](https://machineschema.com/protocol/ethernet-ip.md)

## Study notes

- CIP Motion is an application profile under EtherNet/IP; it defines drive-control extensions rather than a separate physical network.
- Profile functions include torque, velocity, or position control of servo and variable-speed drives, plus drive configuration, status, and diagnostics.
- Communications include unicast control-to-drive and multicast peer-to-peer messages; multicast supports position and velocity synchronization across drives controlled by multiple distributed controllers.
- Centralized and distributed motion control are both supported, with a common application interface for general-purpose and motion drives.
- CIP Sync is ODVA's IEEE-1588-compliant precision clock synchronization and is mapped into the CIP object model.
- The document cites less than 1 µs jitter for cyclic data as necessary for precise speed or position control and states clock synchronization better than 200 ns can be achieved.
- Time-stamped messages and synchronized end-device clocks reduce the effect of jitter in message receipt time.
- CIP Motion runs on standard unmodified Ethernet and is compatible with star and linear topologies.
- The network does not need scheduling; packet size and content can change dynamically, including status or command data and drive operating mode changes.
- Performance upgrades to 1 Gbit/s and 10 Gbit/s are described as easy for users and device suppliers.

## Sources

1. [CIP Motion™ | Common Industrial Protocol | ODVA Technologies](https://www.odva.org/technology-standards/distinct-cip-services/cip-motion/) (accessed 2026-10-25)

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JSON: https://machineschema.com/protocol/cip-motion.json  
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