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- Fcn. Blocks
  - Communication
    - RS232
    - SERCOS
  - Operation Mode
    - Current Control
      - Serial OPMODE 2
      - Analog OPMODE 3
    - Velocity Control
      - Serial OPMODE 0
      - Analog OPMODE 1
    - Position Control
      - Serial/Analog OPMODE 8
      - SERCOS OPMODE 8
      - Gearing OPMODE 4
      - Motion Buffer
      - Field bus
      - Division head
  - Servo
    - Profile
    - Feed-forward
    - Commutation
    - Linear Motor
    - Position feedback
    - Current feedback
    - Drive power
    - Simple tunning
  - Initializtion
    - Commutation
    - Homing
    - CONFIG
    - REFRESH
    - AUTONULL
    - SININIT
    - Power-ID
    - Dipswitch
  - I/O
    - Homing
    - Motion Buffer
    - External encoder
    - Encoder Simulation
    - Fault relay
    - Fault handling
    - Limit switch
    - ILIM2
    - INxMODE
    - OxMODE
    - Analog input
    - ANOUT
  - Fault-Safety-Limits
    - Activation
    - Faults
    - Error messages
    - Fault relay
    - Soft position limits
    - Active disable
    - Velocity limits
    - Dynamic braking
    - Current limits
    - Limit switch
    - Thermal protection
    - Thermal switch
  - Utility
    - MotionLink
    - SEPLink
    - Recording
    - DMEMW
    - BURNIN
    - Bode
    - iPing