CANOpen speed commands

Hello All,

I configure a FBL2360A to be commanded via CANOpen. It works OK but it seems that speed commands must be sent periodically in the same way as !S commands in the Robotrun+ utility. The intuitive way to operate is to send a speed command and the speed is maintained until a next speed is sent. My questions are: is there a way to operate in the "intuitive" way (single command)? If not, at which frequency speed commands must be sent? Thanks for any help.

Eleri Cardozo