Pepperl+Fuchs ES 58 EC Series Manual page 23

Absolute Rotary Encoders
Configuring the Rotary Encoder Using TwinCAT
However, not all devices can be found automatically, therefore the following message
appears:
Figure 7.2
3. Confirm this message with "OK", the scan is then started.
If the scan agent recognizes an Ethernet port with an installed TwinCAT real-time driver,
this is displayed as a device. In this example, as "Device 2 (EtherCAT)."
Figure 7.3
4. Click "OK" to confirm the dialog box.
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