Could you share the first few lines of your mol2 file? They should look like that (from the aspirin example):
@<TRIPOS>MOLECULE
ZINC00000053
20 20 0 0 0
If I understand the error message correctly, one of the molecules in your file looks like that:
@<TRIPOS>MOLECULE
ZINC00000053
20 20
so the third field (substructure) is missing. If that is indeed the case, I suspect you have not installed the latest version of bio3d, which automatically fills in the missing fields. The one on CRAN should do it, try running update.packages("bio3d").
You could try with the option maxlines if this worries you. Check your file first to avoid cutting in the middle of a molecule.