Hello and thank you for your question. I look forward to assisting you today. Does the lens extend when you power the camera on?
If the lens cannot cycle fully, you will see this error. There may be some debris stuck around the barrel of the lens. Try using a can of compressed air to blow it out to see if that will dislodge it. When you power on the camera, look closely around the lens while it is extended to see if it looks like it is aligned evenly around the circumference of the barrel. If not, then that is where the problem is. Let me know what you find please.
Does the lens appear to be extending fully?
If the lens is extending, then try this. Hold the zoom out and power cycle the camera using the power button by tapping it quickly several times. Then hold the zoom in and repeat the power cycle process. You may need to do this a few times to get the lens gears realigned.
Yes you can try it a few times. You can also try blowing it out while the lens is extended. If the lens doesn't stay extended long enough for you to thoroughly blow it out with the compressed air, remove the battery while it is in that position to give you more time.
As you power the camera on, gently try pulling the lens out. You may be able to realign the mechanism that way. If that doesn't work, you could consider having it serviced, but the expense would most likely exceed the price of a new camera.