ATV212 is configured to communicate via Modbus. How to reset the drive when the drive is showing an error?

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If you can communicate with the drive while display shows error, then you can reset the drive fault over modbus using bit 13 of command word.
See attached page from ATV212 manual.
The fault of course must be "resetable". List of all resetable faults can be found in ATV212 programming manual.