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You are getting that Error message because those Cisco devices did not like the commands that SolarWinds VNQM pushed out to them. Note that you are not yet able to push ip sla operations to Cisco devices running IOS 15.x in VNQM. You must manually create the operations on the source and destination devices. This is an excellent resource on the SW knowledge base for creating manual VoIP UDP Jitter operations: Manually configure IP SLA (UDP Jitter) operation on VoIP devices - SolarWinds Worldwide, LLC. Help and Support
After you have successfully manually created your operations, you will need to "Scan devices for existing operations" in SolarWinds VNQM.