Answering my own question regarding the motor reverse function.
As I am looking into a DC powered motor, reversing the polarity via contactors achieves the reverse function, but the Drive control will not directly do this.
If I was to use a 3 phase A/C motor then the Drive would be able to reverse the motor.
Bearing question remains and now...
New question : What are the the merits of using a 3 phase A/c motor over a DC motor?