Thank you. When I try using a negative value for the stepper rescale factor, however, I get errors when I try to set the velocity limit. When the rescale factor is negative, does that mean the velocity limit has to be negative when in step mode instead of positive? If so what other values need to be flipped? Perhaps using a negative rescale factor is not a good idea, maybe I should flip the wiring like you suggested instead.
I am using the Python interface on Linux and I cannot see the exact errors I am getting, because I get AttributeError: /usr/local/lib/libphidget22.so.0: undefined symbol: Phidget_getLastError