Gantry System reversing direction of Motor on y2

I am trying to test my setup for a gantry system. So I want Stepper Motors of y and y2 to move in opposite direction. Is this done by inverting the dir pin for y2 or is there a better way of doing it?

I think there are at least four ways to do this, 2 in hal and 2 with wiring changes:

1. Inverting the direction pin in hal
2. Changing the sign of the step scale in hal
3. If you are using differential drive so you have
DIR+ and DIR-, swapping these will reverse the direction
4. Swapping polarity on one of the motor windings

Your choice...

Thanks for the info I did not know of swapping the dir pins , do they actually swap polarity?

I will use one of the wiring methods to keep it simple.

Can’t find step_scale in Hal only in the ini file.

So basically I change the number that is there into a minus number
For example from 67 to -67 ?

It works.