bank-payment/account_banking_mandate/security/ir.model.access.csv

id,name,model_id:id,group_id:id,perm_read,perm_write,perm_create,perm_unlink
access_account_banking_mandate,Full access on account.banking.mandate,model_account_banking_mandate,account_payment_order.group_account_payment,1,1,1,1
access_account_banking_mandate_read,Read access on account.banking.mandate,model_account_banking_mandate,base.group_user,1,0,0,0