You just need to put it in Mode Velocity... give it an Accel Decel Target... and a Velocity.
If it's firmware 5.00 or above... the code below would work.
ADDR=1 'Give the motor an address
EIGN(W,0) 'Make all I/O General Purpose Inputs
ZS 'Clear errors
ADT=100 'Set an Accel/Decel Target
VT=65535 'Set a slow Velocity Target
MV 'Set Mode to Velocity
G 'Start motion
WAIT=3000 'Wait 3 seconds
X 'Stop motion
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