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Twincat
Download TwinCat at te Beckhoff site: TwinCAT 3 download | eXtended Automation Engineering (XAE)
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Motor jogging wit EPOS in TwinCAT
Follow the application notes.
Configure the axis as NC
Go to the Axis 1, (in my case) See PDF
Tab online
Go to to Enabling Tab.
Give the controller freen and the Feed Fw en Feed Bw.
Important: Put the override to 100% .Now the motor is Blocked with the F2 en F3 you can jog the motor