Many communication standards have been applied to machine and motion control with varying degrees of success. Some of the more popular are EtherNet/IP, EtherCAT, CANopen, DeviceNet and Profibus. EtherNet/IP has become particularly popular because it is compatible with Rockwell/Allen Bradley PLCs, runs on standard Ethernet hardware, and employs the robust and proven Common Industrial Protocol (CIP) for communication, control and data gathering.