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This is a quick example and explanation of setting up and commanding a velocity mode jog move from CANopen.

Opmode (Object 6060) = 3 (Profile Velocity mode) 
Clear Fault: Control Word (Object 6040) = 80 
Disable: Control Word (Object 6040) = 06 
Enable: Control Word (Object 6040) = 07 
Operation Enable: Control Word (Object 6040) = 0F 
Set speed and start jog move: Target Velocity (Object 60FF) = Speed Command