Pepperl+Fuchs ES 58 EC Series Manual page 33

Absolute Rotary Encoders
Configuring the Rotary Encoder Using TwinCAT
6. In the dialog, activate the type "TwinCAT Task with Image" and confirm this with "OK."
Figure 7.13
7. Now activate the option "Auto-start" for the newly created task. Thus, this task is started
automatically with each restart of TwinCAT.
Figure 7.14
32