If there's nothing on the SD card, try formatting it in the phone.
If there is anything on it that you want to keep, put it into your computer (use a card reader if necessary) and save the files, then format it to FAT32.
BTW, if the card is larger than the phone can recognize (that would be a 32GB maximum card in your case), you'll get the same error, and here's nothing you can do but replace the card with a smaller one. (IOW, if you're trying to use a 64GB card in that phone, you'll get the error.)
It's also possible that the card is defective, but try formatting it (or reading it in a computer) first.