S300 CANopen velocity mode jog

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 

The Speed Command is scaled based on PGEARI (the position unit scaling). 
Setting 60FF equal to PGEARI will give a speed of 1 rev/sec (60rpm). 

60FF value = Speed * PGEARI / 60 rpm

To stop, you can disable or set the speed to zero.