I have trouble with this error C153A2, and I want to know if it’s possible to disable or there is some way to automatic reset the error without touch the popup on TP?
This is a warning/error from the safety system that something is wrong. If you ignore this you might eventually damage the robot. It usually is an indication that TCP/payload/CoG (one or more of those) is not set properly. It might also be that you have conservative safety settings. But it can be triggered by other things. Here is an article that gets into the causes and remedies in much more detail :
Universal Robots - Preventive actions for error code “C153 Protective Stop: joint positions deviates from path”