See "Key Mode" (page 96 of the user manual):
> Poly: Polyphonic.
> Mono 1: Monophonic, multi-trigger, full portamento
> Mono 2: Monophonic, multi-trigger, legato portamento
> Mono 3: Monophonic, single-trigger, full portamento
> Mono 4: Monophonic, single-trigger, legato portamento
What you want is one of the multi-trigger modes, that is Mono 1 or 2. Note that both filter and amp envelope will re-trigger; it's not possible to re-trigger just one of them. You can cycle through the modes using Shift+Mono keys.
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