RE: Underdelivery of line is xx.xx percent, but the allowed underdelivery is only 0.00
You are getting the error because you are trying to receive a quantity that is less that the ordered qty and you are asking the system to "close the line" (cancel the remaining ordered quantity).
If you want to keep the purchase order line open, just make sure the checkbox "Close for receipt" is not selected.
If you do want to close the line, follow the advice about the parameter and also make sure to set up the Underdelivery parameter on the PO line accordingly (e.g. set it to 10% or more):
