Toro,
The FP-AO-V10 is unipolar (0-10 V), while the FP-AO-V10B is bipolar (-10 to 10 V). The dual channel modules can output in Single Ended mode (using 2 channels) or Differential mode (only 1 channel can be used). Likewise, the FP-AO-210 (0-10 V) and FP-AIO-610 (0 - 10V) have 8 and 4 output channels in single-ended mode, but since the channels are isolated with respect to the backplane, if you only use 1 channel, it is a differential output (Vout with respect to isolated common of module).
Regards,
Aaron