How to use the close loop speed position mode

Hi everyone,
I am using SBL1360 to control a brushless motor. I am trying to control the speed and position at the same time to let it track a predefined trajectory, so I think the close loop speed position control mode is the most suitable mode I can use. I successfully set up the encoder reading and it is very accurate. However, I do not know how to use the speed positon mode. Since I have a predefined trajectory, should I use a series of go to speed command, or is there any other ways to provide the input? Thank you very much!