Cause : Motor Direction Error comes when the encoder signal lines are not properly connected to the drive or motor direction and PG direction are opposite. he load pulled the motor in the opposite direction of the speed reference and the torque exceeded 100%. 

1. Check and correct wiring to the PG encoder.
2. Check the motor speed monitor U1-05 while manually turning the motor forward. If the sign displayed is negative, change the setting of parameter F1-05.
3. Uncouple the motor from the load and restart Auto-Tuning.