The Smart Velocity control mode utilizes the Smart Motion parameters to improve upon velocity control. Honoring the maximum acceleration, Smart Velocity will speed up and slow down your flywheel or rotary mechanism in a controlled way, reducing power draw and increasing consistency.
It is called as seen below:
API Docs: setReference
API Reference: SetReference
Smart Velocity Control mode will turn your motor continuously. Be sure your mechanism does not have any hard limits for rotation.