Industry 5.0 has transformed manufacturing systems into digital ecosystems and some of the key technologies driving this transformation is digital twin and cyber physical systems. Digital twin (DT) is the development of a virtual copy otherwise referred to as the twin of any physical model whereby, both physical model and its DT would be inter-connected enabling exchange of real time data. Although the idea of a DT has been around for almost two decades, its application in the industry has gained momentum in the recent times. Cyber physical system (CPS) integrates natural and physical systems through communication and computation. The objective of both DT and CPS is to achieve flawless interconnection in between physical and digital worlds. DT may be seen as a targeted application of CPS, which offers an integrated and interoperable framework with a broad perspective. The main focus of this paper is on how CPS and DT are used in manufacturing and its architecture with a particular emphasis on its utilization for shop floor monitoring.