Here are some questions that might help understand the solution with the error you described:

1. What is the function of the CCD in the machine and how does it communicate with the PLC?
2. What are the pickup coordinates of nozzle 1&2 and how are they defined in
The solution for the M151-PLC error is to increase the timeout value in the PLC program for the CCD camera to send the pickup coordinates of nozzles 1 and 2.