You can change this in the menu while in shooting mode. This is from page 48 of the manual:
Choose how the camera focuses. A (auto) M d (Shooting menu) M I Autofocus mode A Single AF (default setting) The camera focuses when the shutter-release button is pressed halfway. B Full-time AF The camera focuses continuously until the shutter-release button is pressed down halfway. Use with moving subjects. The sound of lens drive movement will be heard while the camera focuses.
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