Open Loop mode with CANOpen interface?

I'd like to avoid a script if possible, but I don't see a way to command open loop mode over CANOpen commands. The object dictionary does not have an equivalent 'G' command. There's a note on 'S' command (which is in the dictionary) "In systems without speed sensors, the velocity parameter will be relative to the Max RPM configuration parameter."

But I've tried configuring the motor in 'Closed Loop Position Relative' mode and issuing an 'S' command with no encoder configured. A ?CIS command shows no command is being applied however.

1) Is there a native CANOpen way to use Open loop mode? (issuing power levels)
2) How do you configure the controller to turn 'S' commands into power commands when no encoder is present?

Thanks.

Ok, so you are saying the object dictionary at address 0x2000 is equivalent to a 'G' serial command? Sub index 1 is channel 1, sub index 2 is channel 2? And it is a 32bit value at that address?