Anyone know how to change back to the contra rotation on the Dyson CR01?

To all Dyson experts,

Please can anyone help?
I have a dyson CR01 washing machine which developed a rotation fault are few years ago where the rear half of the drum wasn't rotating. The dyson service engineer came and made it into a one drum rotation (which was rather against my wishes).
Can anyone tell me what he did, and how it can be undone to make the drum contra rotation again?
What could be the original fault that caused only the rear half of the drum not rotating? Was it the actuator?