Error when I try to send email: Unable to send message;Reason:5.5.1 Authentication Required. Learn more at 5.5.1

Error when I try to send email: Unable to send message;Reason:5.5.1 Authentication Required. Learn more at 5.5.1

I configured POP email address, I can receive properly email but I cannot send any email, I got the following error message:
Unable to send message;Reason:5.5.1 Authentication Required. Learn more at 5.5.1