Please start by updating to the newest Nero version if you don't already have the newest Nero version installed.
If the error continues to occur:
Please now check if the error disappears if you use a text editor to create a file with the name QueuingOff.reg which contains the following lines:
(note that REGEDIT4 is the first line, there must not be an empty line ahead if it!)
REGEDIT4
[HKEY_CURRENT_USER\Software\ahead\Nero - Burning Rom\Recorder]
"SCSICmdQueuing"=dword:00000000
Now save the file and in Explorer doubleclick on this file.