This error message due to security token is missing in the SOAP Header section. To solve this issue you have to enter the security token as follows:

1- Open SOAP project

2- put the following security token right after SOAP Header section of the request body

<soapenv:Header>
<wsse:Security xmlns:wsse="http://docs.oasis-open.org/wss/2004/01/oasis-200401-wss-wssecurity-secext-1.0.xsd" mustUnderstand="1">
<wsse:UsernameToken>
<wsse:Username>YourUserName</wsse:Username>
<wsse:Password Type="http://docs.oasis-open.org/wss/2004/01/oasis-200401-wss-username-token-profile-1.0#PasswordText">YourPassword</wsse:Password>
</wsse:UsernameToken>
</wsse:Security>

Note: You have to change both (YourUserName & YourPassword) to the appropriate username and password that is authenticated to call the webservice.

3- Save the project and call the service again.

Another easy way to do this is :

1- Open SOAP Project

2- Right click on the request body in any black space and choose “Add WSS Username Token“

3- Choose Password Text from the drop down list of Add WSS Username Token Field, then click OK.

4- this option will take the username and password automatically from Auth which you set earlier.

5- Save the project and test the issue again, it should be resolved.

Note: If you go for the second solution you should enter authentication first.