This kind of error may come when intercompany transactions are performed. The standard Intercompany transaction process start with the creation of Purchase order. Using the option of Manage intercompany Sales order(Transaction>sales>Manage intercompany Sales order),Sales order is automatically creating in this flow. Here the error happens.
solution:
Kindly make the following changes in the setup
1.Go to Setup > Accounting > Set Up Taxes
2.From Nexus, please select transacting subsidiaries
3.ENABLE TAX LOOKUP ON SALES AND PURCHASES -true
4.Save