Did U figured it out? I have the same problem with exactly the same machine.
I've found information, that cloned alarms for all drives can be caused by Power Supply Unit, Also alarms 510 and 520 (in my case also 530 &540 for UV axes) disappeared when I corrected first parameter in Servo settings to same value for all drives (in my case 1011).
BTW.: would You be so kind and share books?