This occurs when the filament is not properly inserted into the hotend due to the long distance or gap that may exist between the extruder pulley and the filament entry hole. There may also be the possibility of the filament jamming the carriages, causing steps to skip.
Solutions to Filament Jamming in the Extruder
To avoid this problem, we must eliminate any gap that may exist between the drive pulleys and the hotend entry hole of the extruder. This way, the filament will be fully guided from the pulleys to the hotend, avoiding jams or tangles. In some extruders it's very simple, especially in REP-RAP printers, but in others it can be more complex. Let's look at two options:
OPTION 1
Placement of a small support wedge between the extruder pulleys and the flexible filament entry hole to the hotend. There are several models you can 3D print, this model or this one among many others.
OPTION 2
Print a new extruder designed for flexible filament. For example, this one designed by Steve Woods from Gyrobot, or even this one. You also have this option available, among many others.