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The AKD_Jog AOI works differently depending on whether the operation mode is Velocity or Position. In Position Mode motion task 0 is used to load the velocity, accel, decel from the AKD_Jog AOI values in the ladder. Motion Task 0 is set for a next task of 0 so the motion task loops upon itself during execution. In Velocity Mode motion task 0 is not used and the drive runs at the AKD_Jog AOI velocity setpoint. It is important to note that since the AKD_Jog AOI uses motion task 0 when the drive is in Position Mode, it is required that the drive's Home Found be true.