HOW can BNO055 set G range for arduino?

I hope try set BNO055 G range +/- 4g to +/- 2g for arduino ,can provide example code?

I find this link but can't action:

Currently running program:


I have not tried this but give this link a read:

Tailor your code for your application. Page 26 of the data sheet provides the reg addresses and values.

Hopefully someone else has something more specific.