After googling, I know the problem is server time not corrected (in my case, it is late ~ 20 minutes), so the security token is invalid.
You can solve this easily by syncing your server time with a standard NTP (Network Time Protocol) server. Below are steps.
1. Install ntp and ntpdate
# yum install ntp ntpdate2. Enable ntpd service
# systemctl start ntpdCheck its status:
# systemctl enable ntpd
# systemctl status ntpd
3. Add some CentOS NTP servers
# ntpdate -u -s 0.centos.pool.ntp.org 1.centos.pool.ntp.org 2.centos.pool.ntp.org4. Restart ntpd service
# systemctl restart ntpd5. Check again
# timedatectl
# date
Addition, let set hardware clock to the current server time:
# hwclock -wNow you can start your bot without this error. Cheers!
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