My Atlas DCC N-Scale locomotives that are equipped with factory installed Lenz062xf, Lenz063xf decoders will not program using any mode on Program track.
I know the system works because I can easily program every Digitrax decoder loco that I have, but if I put an Atlas DCC factory loco on the programming track I get the 'd nd' error code.
There are decoders now present in the market that do not draw enough current for the programming track to reliably detect that they are present, hence the error report of "d-nd".
All you have to do is to use a 1K 0hm 1/4 watt resistor across Prog A and Prog B outputs during the program process and it will program the Lenz/Atlas decoders.