"I welcome the constructive tone that President Putin used after his meeting with the OSCE President Didier Burkhalter," Steinmeier said in a statement, calling for "what was discussed in Moscow" to be implemented immediately.
"The situation is critical, but there is still a chance that we can avoid a fresh escalation in violence and the total loss of control in eastern Ukraine by diplomatic means," he said.
However the pro-Russian decided on Thursday to go ahead with independence referendums as planned for Sunday.
Steinmeier also said Chancellor Angela Merkel had voiced her concern to Putin about media reports the Russian president may attend Friday's military parade in Crimea.
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