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The toggle switch automatically resets all faults when it is turned to the off position. I would turn the toggle switch off, turn off the breaker on the generator and then turn off all the loads in the house except a few lights. Turn the generator breaker back on, then turn the toggle switch back to automatic. If it starts and stays running, you were overloading the generator. Turn on other loads slowly and keep track of what is on so you don't overload it again. If it still does not stay on, you may have a problem with the panel. Let me know what happens.
I am not familiar with your peice of equipment but from your description of the fault being Under Frequency it appears that generator governor is out of adjustment or the governor spring has brcome weak or broken and not allowing the engine to run at the correct speed to produce an output frequency within the allowable tolerance. Governor linkage could also be binding and not moving smoothly to respond properly to engine load conditions. Thoroughly check governor and throttle linkage for free and smooth operation and full range of movement.
Another cause could be that the engine is not getting sufficient fuel causing the governor to have the throttle wide open to try to get engine to run at its correctly governed speed but unable to do so because the engine is not developing enough horse power.