1. What is the machine's model and serial number?
2. Are there any issues with the network or power supply to the machine?
3. Has the nozzle calibration been performed correctly?
4. Have you tried to reset the machine and communicate with it using a different machine code
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.