GoCardless mandates need to be set so that you have permission from the customer to take payment for any invoices raised to them.
Head to Tools > Integrations > GoCardless > Mandates.
Click on the Add new mandates link.
Select the appropriate customer from the drop-down list and hit the Request mandate button.
All requested mandates will appear in the Requested mandates table on the Tools > Integrations > GoCardless > Mandates menu. The customer will receive an email to confirm the mandate request.
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