Pepperl+Fuchs ES 58 EC Series Manual page 22

Absolute Rotary Encoders
Configuring the Rotary Encoder Using TwinCAT
Integrate Absolute Rotary Encoder in TwinCAT 3
Prerequisite: An ESI file from the absolute rotary encoder is available in
C:\TwinCAT\3.1\Config\IO\EtherCAT.
1. Start TwinCAT XAE.
Figure 7.1
2. In the project folder explorer within the "E/A" element, select the entry "Devices", and
activate by right-clicking on the "Scan" function.
21