This can be caused by installing Pro Tools to a drive other than your main system drive. This can cause a firmware update to not be initiated. To correct this, uninstall Pro Tools from the secondary drive and reinstall it to your main system drive. After reinstalling, launch Pro Tools - you should get a message to update the firmware, which you should do before using Pro Tools.
This could also be caused by moving any of the Pro Tools components (the application or any other files/folders) from their default install location. Usually uninstalling and reinstalling Pro Tools will fix the problem. Be sure to NOT move any of the components from their original install location. If you like, you can drag the Pro Tools application to the Dock to create a shortcut or create and alias of the Pro Tools application and drag the alias to the desktop.