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This is with the Sigma 24mm? If this is with the Nikon 24mm AF-D or another lens with an aperture ring then turn the aperture ring to its smallest setting (largest f/number) and control the aperture from the camera body the same way as with a lens without an aperture ring.
If it really is with the Sigma lens, try cleaning the contacts on the back of the lens and in the lens mount on the camera body.
You need to turn the aperture ring on the lens to its smallest aperture (largest f/number) and lock it. You can control the aperture from the camera body, the same way as on lenses without an aperture ring.
FEE error message displayed on SLR camera LCD
If the cameras LCD screen displays "FEE" in the area where the aperture is normally displayed, please ensure that the lens is attached to the camera correctly. This error message will appear if the lens is not attached correctly to the camera or if you are not using a CPU lens such as the Nikon AF or Nikkor P lenses. Alternatively, if the lens has an aperture ring, it may not be set to f22 (or the highest aperture number on the aperture ring - normally marked in orange). Select the aperture number marked in orange on the lens and lock it using the aperture locking switch to prevent this occurring again.
The FEE error message
Set to F22, or the highest aperture number - normally marked in orange. Note the locking switch. If the above did not resolve the problem and you still experence the the error display FEE, please contact your local Nikon office. Before doing so please also check the following.
That the EE servo coupling highlighted above on the lenses has not been broken.
That the F-min switch highlighted above on the camera body has not been broken. If either of the two items above are broken please contact your local Nikon service center.
Check to see that the lens aperture ring is set to the smallest (largest numerical) aperture setting (usually f22 or such). Nikon AF cameras have to have their lenses set at the smallest aperture for most of their program modes to work. Nikon AF lenses have a small slide or twist lock adjacent to the aperture ring to lock it in place at the smallest aperture. This may have been unlocked during the cleaning.
Another possibility is that the lens's electrical contacts were damaged during cleaning, so the body is not "seeing" the lens. Do you have another lens you could attach to the body to test this theory?
The FEE message indicates that the lens is not set to smallest aperture (highest number). The camera body expects this so it will have full control of the aperture. It sounds like you may be accidentally bumping or turning the aperture ring on the lens while using it or changing lenses. There is a little slide lock to lock it at f/22 to prevent this. Turn the aperture ring to 22 and move the slider so the white dot is next to the orange mark on the lens barrel.
FEE means that your lens is not set to the smallest aperture setting. If you are using your camera's auto-focus mode, the lens must be set to the smallest aperture setting which, on your lens, is probably f22 (the smallest aperture is the largest number). Once you set the lens aperture, you should slide the aperture lock to the locked position. The aperture lock is located just right of your largest setting f3.5. This slider should line up with the orange line. To verify that the latch is engaged, try to change the aperture by rotating the aperture ring. In the locked position, the ring will not turn.