We have 1 robot, which is showing the statement C153A1, where in the manual it says that it would be the point of gravity or acceleration. We have already made these adjustments and they have had no effect. What would you have an idea of the problem, if it really is the gasket?
Thanks
Hi, it is suggested to contact the local support team, provide them the log or support file for diagnostic.
Position deviation stops (protective stops) are caused by the robot measuring a current in a joint, which is either higher or lower than expected/calculated.
This can be due to a collision, wrong payload (payload, center of gravity, intertia), cable tangled in the robot arm, speeds or accelerations too high, or anything else that has an impact on the joints’ required power. 
So, as you probably can guess, worn joints are also often a cause of this error. So if you can not identify any of above points, you could possibly have a gear in a joint that’s worn. In this case, you should contact a distributor, as tizh mentions.