If your employees use your POS system to punch in and out of their shifts, you should be able to import Labor Punches in to R365. During the POS Integration, you should have set the ‘Import Type’ on the Location record for each POS Integrated Location. You can update this import type after the integration if it was incorrectly set.
Open the Location record, and on the 'General' tab, set the ‘Import Type’ to ‘Sales and Labor’. This will make the ‘Labor Estimates’ tab appear. Once you update the settings on this tab, R365 will start creating automatic Labor Accruals.
Also check out the POS Integration Section in the R365 Academy.