When I write U*M=21 to the controller I get the message, "Could not write U1 user parameter due to U1 unit mismatch," and I can't set the user parameter setting value on the controller.

This is because the unit of the controller's user parameter differs from the unit specified in the parameter setting tool. You will have to either use the unit from the controller on the parameter setting tool, or use the custom computation building tool to change the user parameter unit.
Note: You cannot change the user parameter unit on the controller from the parameter setting tool.

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