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I heard this was solved on one occasion when using a canon mem card. or one with a lower amount of memory, 16 megs.
I also heard this problem described as basically the same as the E-18 that stands for a screwed lens mechanism(more info here:
http://www.fixya.com/problems-solutions/... usually connected with a function that is supposed to protect the lens from damage when extending against an obstruction.
More often though it is related to memory issues, and memory consuming modes such as rapid shutter, or movie taking.
Try a canon card, a 16 mb card, or just any card known to be operational with a similar model. If there's no effect, ask for a repair estimate from canon, or look for a reliable repair person that can actually work on these things because the manufacturers will always give you a breath taking flat rate.
If you manage to squeeze canon to reveal what E-16 actually stands for let us know...
Good luck