This on has gotten a lot of us, you can do one of two things. At the door board switch the two center wires on the motor encoder plug, they are white and green I think. This is the easy fix. The other way is in door fast. Set MAL to 1 then under CONTROL there is a parameter to invert the encoder but I cannot remember which one it is. The new PA6 and PA7 must have the encoder switched or a parameter inverted different than the previous boards.