well replaced the drive power supply with one i found on eBay, thanks jkh, this took care of the hard fault #9 and # 24, unit boots up with no errors now, the unit does run much smoother with the new power supply, however same problem in the up direction, car comes to floor commanded speed is 3fpm, car stalls and sets brake 3 seconds later, car off level. still works great in the down. did a complete msu setup, offsets etc, all went well as per the instructions, same outcome, still can't access drive, i have a level 3 tool, might need level 4 tool, going to have to look around. looks like they have a yaskawa drive upgrade that we could sell customer, going to look into that. will keep you posted