Hello, everyone.

I need to control two motors using a SEW frequency converter.
Each motor has an external rotary HTL encoder.
One motor should position by position angle (0-360) degrees, the other motor should receive the actual RPM of the axis.
The encoders are connected to the 6ES7138-6AA01-0BA0 module.

Questions:
1) How to configure the external encoder correctly: ExternalEncoder or High_Speed_Counter or other?.

2) Which tehnology functions to use?
3) How do I know the encoder has passed through the reference mark?

Can someone help me?

Thanks.