To spin the motor with sensorless FOC, check the “Run” box again. The motor will spin with sinusoidal current at the speedRef (Hz) value in the GUI, which is automatically set to 20.0 Hz. Use the speedRef (Hz) input to change the current speed of the motor as shown in Figure 6-4. The GUI automatically calculates the current reference speed using the variable speed (Hz) and compares it to the trajectory speed variable speedTraj (Hz) to calculate the Speed Error (Hz) as a percentage.