First Aid usually unmount a drive before running and inspecting it, so First Aid still runs with an unmounted drive in many instances.
You could try erasing and reformatting the drive (via Disk Utility), as that will create a new partition map that fits. This presumes you have backups of all of the files and folders on that drive.
If you have filled the drive to capacity such that it cannot expand the partition map to accommodate additional files, the drive might be unusable until reformatted. However, filling it up again would cause the same problem.
Or as leroy suggests, the drive might be failing in which case it is best to replace it (instead of reformatting it and trying to continue using it). I tend to be fairly conservative about drives and as soon as they start behaving questionably, I replace them. In my experience, this does not happen often but no drive lasts forever. Alternatively, erase/reformat and try to continue using but always keep good backups of any content you put on it (a good practice anyway).