I also encountered the same problem, the customer Siemens (S7-1500) started quickly, and ctrlx took 3 minutes. The customer is using 40 of our CTRLX and is very troubled by slow startup.
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Hello, Please refer to this topic. https://developer.community.boschrexroth.com/t5/ctrlX-MOTION/Invert-Direction-of-3rd-Party-COE-Servo/m-p/86944#M917
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You can view the third-party servo data object table, 607E (instruction polarity), Control the corresponding bit to control the direction.
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