WHAT IF THE STEP MOTOR MOVES IN THE OPPOSITE DIRECTION OF WHAT IS COMMANDED?
One of the phases is reversed. Swap the A+ and A- leads at the Motor Connector.
WHAT IF THE ENCODER IS COUNTING IN THE WRONG DIRECTION?
The polarity of the encoder is reversed. Swap the A+ and A- leads at the Encoder Connector.
A SOFTWARE ALTERNATIVE(6000 or 6K products only):
If the motor (and the encoder if one is used) is reversed, you can use the CMDDIR1 command to reverse the polarity of both the commanded direction and the polarity of the encoder feedback counts.