In general, many types of requests to MaDaM are authenticated with access tokens. These have an expiration date, which is in a lot of cases 24h after their creation. If the token expired, an error is reported on the next access. Following you'll find typical occasions in which this happens.
Stale QSTART file
Users start jBEAM or the manual importer using Quickstart. On first start, a file with extension *.qstart will be downloaded and used to run the programs. The file includes access tokens among other information. Since the files stay on the file system, they are often reused to start e.g. jBEAM again after some days. The access tokens will then have expired which leads to the error described here.
The solution is to obtain a new QSTART file on each program start by clicking on the respective icons within MaDaM.