I found the solution:

Sometimes bluez-pin saves the pin incorrectly, even if security is set to  user 
it does not ask for the pin again, but the authentication fails.
So delete the line starting with the mac address of the device you want to 
connect at the file /var/lib/bluetooth/<mac of your BT-Device @PC>/ linkkeys

this should solve the problem

cheers,
Erwin
P.S: I also struggled days with that.

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Bluetooth pairing outgoing connections does not work unless you restart bluez 
services
https://bugs.launchpad.net/bugs/21926
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