Jog axis bacward with a uni-directional servo

Question

In TwinCAT3 or Codesys, is it possible to control a bi-directional servo with 0-10v and direction pin? Or, is it possible to decouple the analog output from a PTP Axis at runtime, and control it from the program?

I am trying to do a software work-around for a 'missing of appropriate hardware' problem.

I want to jog a servo backward, while my interface to it is: Enable, 0-10v and Direction. Normally, the machine has to run only forward, but there are special cases when jog backward is needed.

Now, the controller outputs 0v for 0 speed, and 10v for max speed. Ideally, I would have an analog card which can output -10/+10v, and I would have no issues to run backward. Is it possible to control a bi-directional servo with 0-10v and direction pin?

I tried to call MC_Jog_instance.JogBackwards, but the output would be 0v, as I limited the 'Position and Velocity Scaling'.'Minimum drive output limitation [-1.0 ... 1.0] ' to 0.0

I tried to call MC_Jog_instance.JogForward, and change manually the Direction pin, but the Axis motion controller would get into error, as it expects motion forward, and servo runs backward.

All motion tasks in forward direction are running fine.

More context: Structured Text application in TwinCAT3 (based on Codesys), PLCopen Motion Control standard, like MC_Power, MC_Jog. Target IPC is a Beckhoff CX5020, and for analog I use an EL4004. Servo: LS apd, does not allow offset bigger than 1v. It is set for velocity control. The machine is unwinding some plastic foil.