Siemens SINUMERIK 840D sl Commissioning Manual page 139

12.Press "Next step >". An identification of the selected encoders is triggered (Encoder 1).
The drive unit can identify encoders with EnDat protocol. Select other encoders in the
encoder list:
13.Press the "Input data" softkey to check or modify the encoder data.
CNC Commissioning: NC, PLC, Drive
Commissioning Manual, 12/2019, A5E48312804B AA
Commissioning NC-controlled drives
6.3 Guided commissioning of SINAMICS drives
139