1. A Electro Stimulation (ES) system comprising; a controller; and at least one stimulator; wherein the at least one stimulator provides stimulation to body tissue, and wherein the stimulation is specified by at least one stimulation parameter; and wherein the controller provides an initial values control message to the at least one stimulator, wherein the initial values control message contains values for the at least one stimulation parameter, and wherein the values contained in the initial values control message are a sufficient set of values to initialize the at least one stimulator; and wherein the controller further provides a multiplicity of high update rate control message to the at least one stimulator, wherein the multiplicity of high update rate control messages update at least one parameter of the at least one stimulation parameter.