  Generic bifurcation theory was classically well developed for smooth
differential systems, establishing results for $k$-parameter families of planar
vector fields. In the present study we focus on a qualitative analysis of
$2$-parameter families, $Z_{\alpha,\beta}$, of planar Filippov systems assuming
that $Z_{0,0}$ presents a codimension-two minimal set. Such object, named
elementary simple two-fold cycle, is characterized by a regular trajectory
connecting a visible two-fold singularity to itself, for which the second
derivative of the first return map is nonvanishing. We analyzed the
codimension-two scenario through the exhibition of its bifurcation diagram.
