Peer is trying to register, but not configured as host=dynamic
From Kolmisoft Wiki
In order to be able to register device, make sure he is configured as "dynamic".
You will get such error if you will enter his IP/hostname instead of setting it as "dynamic."
Once again: if you enter IP/hostname for device - it is not supposed to register and Asterisk CLI will show such error and device will be unable to register.
Device only needs to register when his IP is dynamic.