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I have seen similar problems on many cameras, does the lens mechanism open fully, like when it was new?
The gears can get stuck, causing this error to show. How old is this camera?
So the lens is not opening all of the way?
I would recommend looking for a replacement camera, the repair on this one would be more than $100, not worth it for a camera this old.
Six years is on the high end of life expectancy for devices like this.
There are cameras over double the Megapixels for about $100.
I would carefully look at reviews from several websites before choosing one.
Please let me know if there is anything else I can help you with! I wish you the best.