### DIR

sets the direction defined as positive rotation for the motor as seen when looking at the motor shaft end.
0 = positive motion is counter-clockwise (CCW)
1 = positive motion is clockwise (CW)

DIR command was expanded. The command now takes up to 3 arguments. The command
is backward compatible. There are 10 bits for 10 possible parameters that may be
subject to inversion according to the SERCOS spec. For now only 4 are supported.
Position command, Velocity command and Torque command may be inverted using the
first argument. Position feedback may be inverted using the second parameter only
for SERCOS i/f.
First parameter: Position command, Velocity command and Torque command.

cmnd | Position | Velocity | Torque
0 | 1 | 1 | 1
1 | 0 | 0 | 0
2 | 0 | 1 | 0
3 | 0 | 1 | 1
4 | 1 | 0 | 0
5 | 1 | 0 | 1
6 | 1 | 1 | 0
7 | 0 | 0 | 1

Second parameter: External position feedback, Motor Position feedback, Velocity feedback
and Torque feedback.

cmnd | External | Motor | Velocity | Torque
0 | 0 | 0 | 0 | 0
1 | 0 | 0 | 0 | 1
2 | 0 | 0 | 1 | 0
3 | 0 | 0 | 1 | 1
4 | 0 | 1 | 0 | 0
5 | 0 | 1 | 0 | 1
6 | 0 | 1 | 1 | 0
7 | 0 | 1 | 1 | 1
8 | 1 | 0 | 0 | 0
9 | 1 | 0 | 0 | 1
10 | 1 | 0 | 1 | 0
11 | 1 | 0 | 1 | 1
12 | 1 | 1 | 0 | 0
13 | 1 | 1 | 0 | 1
14 | 1 | 1 | 1 | 0
15 | 1 | 1 | 1 | 1

Third parameter: Position additive command, Velocity additive command and Torque additive
command (not supported yet). 0 - non inverted, 1 - inverted.

Firmware Versions: all
Type: switch (R/W) Range: 0, 1
Units: n/a Default: 1
Opmodes: all Drive Status: en/dis EEPROM: yes