If the PCM detects that the Crank and Cam signals are out of time by a specific number of degrees, this P0016 code will set.
Engine Light ON (or Service Engine Soon Warning Light)
P0016 Chrysler Description
The crankshaft sensor is part of the primary ignition system and functions as the trigger. It detects the position of the crankshaft relays that information on to the Powertrain Control Module (PCM) or the ignition module (depending on the vehicle) to control spark timing. The Camshaft position sensor detects the position of the camshafts and relays the information to the PCM. The PCM uses the CMP signal to identify the beginning of the injector sequence. What ties these two shafts and their sensors together is the timing belt or chain. The cam and crank should be precisely timed together.