Generally, this error indicates that the Windows date/time is set incorrectly. Check to ensure your date and time are set correctly via the Windows system clock at the bottom right corner of your screen. Refer to Microsoft's instructions to change the time on your computer, CLICK HERE.
Additionally, this error can appear if a Firewall is active and is blocking the connection between yourself and the ATO. Try disabling your Anti-virus or Firewall and attempt to re-lodge.
If all else fails then there is an issue with your machine credential. You should delete the machine credential and get a new one from the ATO's relationship manager. Refer to the "How to setup machine credential" topic.
The default location of the machine credential is C:\Users\[USER]\AppData\Roaming\ATOMAS.