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Error 02-9E Means there is a scratched or otherwise unreadable disc. The problem could be the laser as well. This error can mean any of the following:
Improper media Bad burn/copy of disc
Improperly adjusted laser - requires an alignment
Dirty Laser Lens (smokers will experience this more often)
Laser failure etc.
Try changing the CD/DVD you are using and if you are still getting the same error, then try to visit you nearest Pioneer Service center and get your headunit's laser tested for allignment. How much you'd invest for repair must be below the cost of a new one or it's not worth it.
If you wish to get some details; check the site linked here. Pull up older posts. Surf the site with patience. Do a search by type in the brand name of your device at its search box and press "Enter". http://electronicshelponline.blogspot.com/
I fixed it! I had a working set up. I synced my iPod touch and update the software, then hooked it back upto my car stereo. I received error code 02-66. I disconnected the iPod and cable from the radio. Turned off the radio restarted the iPod. Turned radio back on with main menu displaying on iPod I hooked it back up to the Pioneer radio. Vuala! It works. Hope this helps.