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MSR20 - No IPSec policy found-Payload=PROPOSAL; IKE packet dropped.

We are having the following issue trying to make a VPN from our MSR2020 to a Cisco router

We get the following error message: -Src addr=xxx.xxx.xxx.xxx-Dst addr=xxx.xxx.xxx.xxx-I_Cookie=1c1efd80da6f1960-R_Cookie=06ba44068e7e2017-Cause=No IPSec policy found-Payload=PROPOSAL; IKE packet dropped

Any suggestions?

Thank you

Eric