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Siemens Self Support here. Configuring an S7-1500 with a Heidenhain LS187 absolute linear encoder involves these key steps: 1. **Hardware Configuration:** In TIA Portal, add the encoder via PROFINET/Ethernet. Define the encoder as a "Heidenhain absolute encoder" with EnDat 2.2 interface. 2. **Encoder Parameterization:** Configure encoder-specific parameters (resolution, direction, etc.) within the encoder's device view in TIA Portal. 3. **Technology Objects:** Utilize the "Positioning" technology objects (TO) in TIA Portal. Configure a positioning drive, linking it to the encoder as a feedback sensor. 4. **Communication Settings:** Ensure proper PROFINET communication setup – IP address, subnet mask, etc. 5. **Testing & Commissioning:** Verify encoder feedback in TIA Portal's online view and test the positioning functionality. For detailed guidance, refer to the following resources within SiePortal: * **Entry ID:** 109788478 - "Configuration of absolute encoders with EnDat 2.2 interface on SIMATIC S7-1500" ([https://support.industry.siemens.com/sf/en/view/109788478](https://support.industry.siemens.com/sf/en/view/109788478)) * **Manual:** "Positioning with SIMATIC S7-1500" – Chapter on absolute encoders.