Hi and welcome to the forum, nxpa76!
There is a later firmware version for that burner. You now have ver A302. The latest is ver A306.
I 19:41:18 Destination Device: [0:1:0] HL-DT-ST DVDRAM GSA-4160B A302 (D:) (ATA)
http://se.lgservice.com/index_b2c.jsp
Select 'Device Driver' then on the next page: DVD-ROM (Writer) and in subject fill in GSA-4160B
If you update the firmware:
No disc in the tray
Tray closed
Restart the computer after the update
The PMA error seems to happen only on +R media. So far I've only seen it happen on LG, Samsung and Lite-On writers.