OK, Whil monitoring the pressure, shift gears with pannel bottons, from N to 1 to N to R to 1, a couple of times. The pressure should stay between 44 and 54 bar. If that is OK that means that the power unit is ok.
you probably will have to change the robot unit but first I would try to change the oil of the hydraulic unit.
So, depressure the accumulator power unit with the procedure from the Multiecuscan.
Than remove the filter from the robot and flush the oil. Change the filter and put new oil.
Follow the complete prosedure as descibed above
in the folowing order: delete statistical data, than clutch drain 3 times, clutch replacement, electropump replacement, actuator base adjustment, production service final calibration and finaly clutch self calibration enable. If that is not solving the issue, you have to change the complete robot unit. (since there are no single spare parts available....)