M0:
FACE1   S
FACE2   N
FACE3   S
LEFT    N
RIGHT   S
SIDE    N

R0:
FACE1   S
FACE2   S
FACE3   N
LEFT    S
RIGHT   N
SIDE    N

Which gives the following signs on the OUTPUT gains.

M0:
FACE1   1
FACE2  -1
FACE3   1
LEFT   -1
RIGHT   1
SIDE   -1

R0:
FACE1   ? Having problems
FACE2   1
FACE3  -1
LEFT    1
RIGHT  -1
SIDE   -1

The polarities appear to be 180 deg out of phase from Derek's poster cheat sheet E1000617.
Jeff is going to go switch all magnets and then reset the servo gain signs.  Hopefully this will then match the poster.