Symptoms

When trying to change nameservers for a Verisign (.com, .net) domain, the following error is thrown:

Nameserver creation or update failed:
ns1.example.com, 2201, Authorization error

or when trying to register/update a SIDN (.nl) domain with nameservers whose glue records have a domain that belongs to another registrar:

Nameserver creation or update failed: 
ns1.example.nl, 2201, A superordinate name server can only be registered by the managing registrar. 

Cause

The registry doesn't allow creating or updating nameserver host records using domain names that aren't managed by the same registrar. E.g., if you are trying to use ns1.domain2.com and ns2.domain2.com as nameservers for your domain where domain2.com is registered with another provider/registrar and if the nameserver objects/hosts (glue records) ns1.domain2.com and ns2.domain2.com aren't already created at the registry.

In other words, "Authorization error" message pops up if you try to assign nameservers based on a domain that is registered with another provider/registrar.

Resolution

If it is necessary to use nameserver hosts based on a domain that is not in your reseller account, consider first creating host objects (domain name - ip address pairs) at the registrar/provider where the domain name is registered and then updating nameservers at Openprovider account.

You may use this tool to check registration of nameservers/glue records for .com and .net domains.