Trapezoidal Commutation Mode - Automatic Sensor Setup fails + Rotation backward

I am trying to do Automatic Sensor Setup from Trapezoidal mode. It seems t work just fine in Sinusoidal mode, and the motors run very smooth/quiet in sinusoidal, but always fails in trapezoidal.
I can make the motors rotate in trapezoidal mode with Hall Sensor map 1 with Windings Unswapped (SWD=0). (Number of motor poles is always +15.) They make a slight "ticking" noise, but use ~half an amp at max speed in either direction. (All other Hall Sensor Maps made the motor stutter/stall/make bad noises, so i am pretty sure I found the correct map.)
The Motor/Sensor Setup routine spins the motor little clockwise, then a little counterclockwise, then fails with message “Hall Trapezoidal Mapping Detection Failed! Please try again with higher reference seek power/=4:4:4:4:0:487:0”
I have already tried increasing the Reference Seek Power up to 15A (more than half my motor's rated power.) The motor is free-spinning unloaded, and usually takes ~0.5A to spin full speed, so I don't think power is the problem.
After the routine fails, subsequent attempts to run the motor result in Hall fault. I have to switch to sinusoidal mode and back t make them work again. 
The one odd thing I have noticed is that, in my "working" trapezoidal configuration, positive motor commands make it spin counterclockwise, whereas in sinusoidal mode, they make it spin clockwise. Does this mean the configuration is actually incorrect, even though it seems to work?

Note: This may be related to my other topic on backwards Hall Status Sequences: www.roboteq.com/forum/9-controller-confi...tus-correct-sequence

Why does Sensor Setup always fail in Trapezoidal mode, and what else can I try changing to make it work?

george_f wrote: Hello Dan,
Automatic motor/sensor setup applies only in sinusoidan mode and not in trapezoidal. In trapezoidal mode you have to set all the motor parameters like Amps, pole pairs and find the proper mapping using HSM as you did. After that your motor is ready to spin. If it spins without cogging, weird noises increased amps at no load etc then it is correctly set up.
If you have found that HSM = 1 is the best for your motor but it spins backward you can change the direction of motor by changing the motor pole pairs to negative (-).
By that you should have your motor to spin the way you want and with correct setup.
This is how you can set up in trapezoidal mode.

To reverse the directionality of the motor, is it better to set motor pole pairs to negative, or to set the "Motor Direction" (MDIR) to "Inverted"?