The message suggests that CURL is failing.
The module appears to have some built-in logging capability if you enable it in the PHP file. At line 91 you'll see instructions, and then need to uncomment (remove the // from the beginning of) line 92:
Code:
91: // to enable logging, create an empty "upsxml.log" file at the location you set below, give it write permissions (777) and uncomment the next line
92: // $this->logfile = DIR_FS_CATALOG . 'includes/modules/shipping/upsxml.log';
Then you can see what errors are occurring by viewing that log file after triggering the error.
I recommend also installing this plugin to help diagnose other PHP errors which are likely rampant on your site due to PHP compatibility issues from using old software on newer PHP versions: https://www.zen-cart.com/downloads.php?do=file&id=606
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