I really need some help guys. I have a Mid-American controller with a baldor sweo drive. i'm the second guy on the job. i was sent over to pull the drive and send it off for repair. i got it back and put it in. the parameters were corrupted so another tech came over and helped me put all the parameters back in it. we still couldn't get the car to run. he was pretty confident that something was wrong with the encoder. we couldn't get the exact encoder right away so i put on one that was a spare from a job with a similar controller. the old one was a 1040 pulse count, the new one was a 2048 pulse count. i changed to parameter in the drive to match. the car ran after i put the new encoder on, but it ran backwards. up for down, down for up. i'm picking the correct direction relays but the motor turns the wrong way. i changed the parameter for feedback align which is supposed to change the direction of the encoder electrically, but that did not work, the car tries to run in the right direction but it faults out with a following error. i tried to change my a and a not and b and b not, that didn't work either. the motor is a 260v DC motor. i'm new to maintenance(just moved over from construction a couple months ago) so forgive me cause i'm not really sure what kind of voltages i should have coming out of the drive. the only thing i haven't done on the drive was the autotune tests because the book said some needed to be done with the load un-coupled from the motor. the motor also makes a terrible growling noise when it does run. i'm hoping there is a brother out there that can give me some sort of direction to go in. thanks in advance for your help.