How do I configure the drive to automatically restart after a fault?

Set parameter P110 to 3 (Auto Restart) to have the drive automatically restart after faults or when power is applied. The drive will attempt 5 restarts; if all attempts fail, the drive will display LC (fault lockout) and require a manual reset. Automatic restarting requires the start source to be the terminal strip with the start command present, and should only be used on equipment inaccessible to personnel. (Page 29)

From the official Lenze SMVector Variable Frequency Drive manual, page 29

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