Pepperl+Fuchs ES 58 EC Series Manual page 32

Absolute Rotary Encoders
Configuring the Rotary Encoder Using TwinCAT
Note!
As there is no external EtherCAT master and the PC/laptop is used as the EtherCAT master in
this example, an additional task is required.
5. To do so, navigate to the "SYSTEM" element in the project folder explorer and select the
entry "Tasks." Right-click to activate the drop-down list, and select "Add New Item...."
Figure 7.12
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