Pepperl+Fuchs ES 58 EC Series Manual page 24

Absolute Rotary Encoders
Configuring the Rotary Encoder Using TwinCAT
The EtherCAT device is created and a scan for other participants/slaves, so-called
boxes, is suggested.
Figure 7.4
5. Confirm this message with "Yes" to establish the EtherCAT absolute rotary encoder and,
where appropriate, other connected devices.
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