Functionality up to firmware v2.06

Description of the function blocks All firmware v2.06 function blocks that were not described specifically (lower diagram) are identical to the function blocks of the block diagram for firmware v2.10.

This results in the following relationship for the velocity:

Parameter P-0-0519 contains the result of the differentiation of the position signal. It has the same units as parameter S-0-0040. The origin of parameter S-0-0040 depends on the settings in parameter P-0-0514.