Siemens SINUMERIK 840D sl Commissioning Manual page 131

6. Press "Next step >". An identification of the selected encoder is triggered (encoder 1).
The drive unit can identify encoders with EnDat protocol. These encoders are selected in
the encoder list in the following dialogs ("Configuration - Encoder 1" menu).
The entry "No encoder" is selected in the encoder list for encoders that the drive unit cannot
identify. The connected encoder must be configured.
CNC Commissioning: NC, PLC, Drive
Commissioning Manual, 12/2019, A5E48312804B AA
Commissioning NC-controlled drives
6.3 Guided commissioning of SINAMICS drives
131