Please get in touch with your sales contact. He should be able to guide you which encoder interfaces are possible yet, like AcuroLink, ctrlX Sennse, EnDat2.2, Hiperface + 1 Vpp, SSI, or similar. And what will be available in future.
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See link to actual online documentation: https://docs.automation.boschrexroth.com
This is also linked from the ctrlX AUTOMATION Community startpage. It will be extended continuously.
Diagnostic description can be found here.
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