You can maintain customer material info record in ERP via tcode VD51(create) and VD52(change). This info record describes the relationship between customer and material.
See one example in ERP:

It could be downloaded to CRM via request download. Once download is successful, the data from ERP will be displayed in CRM as below:

Keypoint

(1) define the download request by specifying customer id in request.

(2) ensure the related material is downloaded first.
(3) ensure there is valid configuration for sales organization in CRM

Error resolved during Jerry's attempt

How to resolve error message Number not in interval XXX - XXX when downloading a customer from ERP
How to deal with error message Form of address 0001 not designated for organization
Why I always see warning message Object is in status Wait when performing a request download
How to resolve error message Customer classification does not exist when downloading a customer into CRM
How to deal with error message Tax number category does not exist when downloading a customer from ERP
How to resolve error message Distribution channel is not allowed for sales organization when downloading customer material info record from ERP
Why I always see parent not ok error message when trying to download customer material info record
How R3 Sales Organization is mapped to CRM
How to resolve error message sales area is not assigned for the header product

Check the two assignment blocks:

(1) Customer product IDs / Sales” (relationship type PRDSCP on product master data): contains the information downloaded from ERP
(2) Customer product IDs” (relationship type PRDCPN, data stored in table COMM_IL_PRDCPN, alternative ID “CUSTOMER_ID”): contains information directly maintained in CRM

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