Conveyor tracking system

Hello everyone. Need yours help. Iwant create conveyor tracking system with irb340. I did everything as described in the manual. In i/o signals i See that everything is ok. But I Have This error. Can anyone tell me what i did bad? My conveyor isnt connect to irc5 (encoder is connected) . And i Cant change conveyor speed. Can anyone tell me how to connect conveyor and which parameters i must define in configuration? 

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