199001823 - D008 ENGINE OUTSIDE OF REVS (Robotized gearbox)

The problem disappears if I release the accelerator pedal when changing, it seems as though the clutch slips and there is sometimes a burning smell
Test results
1ERRORS IN AUTOMATED GEARBOX CONTROL UNIT CHECKAll OKProblems encounteredOperation
Connect the Examiner diagnostic equipment and check that there are no errors in the automated gearbox control unit. More specifically:- CAN error (Engine Management Node - Automated Gearbox Node communication)Move on to Step 3Presence of error indicatedMove on to Step 2
2CHECKS ON FAULTS ENCOUNTEREDAll OKProblems encounteredOperation
Check the faults, carrying out    See Test 2127OI WHAT TO DO DEPENDING ON THE ERROR PRESENT IN THE ROBOTIZED GEARBOX CONTROL UNITMove on to Step 3Fault at the connectionsRestore/replace the wiring    See E7051 ROBOTIZED GEARBOX
One of the control units does not dialogue.Restore/replace the control unit involved.
3CARRY OUT THE CALIBRATION OF CLUTCH PARAMETERS WITH AN EXAMINERAll OKProblems encounteredOperation
With the diagnostic equipment still connected, go into active diagnosis and carry out the calibration of clutch parameters using clutch self-calibration enablement and clutch degradation index calculationMove on to Step 4
4CHECK WITH ROAD TESTAll OKProblems encounteredOperation
Carry out a road test taking care to make the maximum number of gear changes possible using all the available gears (at different engine speeds and loads), making sure that the fault has disappeared.End of diagnosisThe fault persists.Move on to Step 5
5CLUTCH PLATE CHECKAll OKProblems encounteredOperation
Carry out the clutch plate check: it must conform to standard and not be worn.End of diagnosisThe clutch plate is worn/does not conformReplace the clutch plate    Op. 1810A28 CLUTCH - R R FOR MANUAL GEARBOX WITH HYDRAULIC SELECTION VERSIONS