Ok I managed to solve this using the timeout command, I checked back here to see that BroSlow updated his answer with a very similar solution. Thank you BroSlow for your help.
To solve the problem, the code I used is:
if [[ `timeout 5s ls /nfs/machine |wc -l` -gt 0 ]] ; then
echo "can see machine"
else
echo "cannot see machine"
fi
I then reduced this to a single line command so that it could be run through ssh and put inside of a loop (to loop through hosts and execute this command).