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There are some steps which can be followed which may resolve this problem which as follows,
1: Switch on the camera while you hold the shutter button and connect it to the AC adapter or to the USB cable at the same time.
2: Now by default the lens should get properly aligned if not try to twist them slightly by holding down the camera lens with soft hands.
3: Just push and pull the lens slightly as it extends automatically.
4: Now when the lens is in the hard surface power on your camera.
5: Try to hit the camera softly beside the lens which might solve the issue.
You can try to format the memory card completely and then reinsert to your camera which might be the issue at times.
Camera was probably dropped. Motorized autofocus lens was probably damaged when dropped. It doesn't get more of a big deal than this. Depending on age of camera, it may be a ''wipe-out.''
Ps... I'm saying ''probably'' dropped because I didn't see it happen, but this is precisely what happens when they are dropped. It doesn't take much of a ''jolt'' to do the damage, and there is usually never any external damage.
Lens unit is faulty is not zooming or working properly that why you getting lens error.
you can try to open camera and near lens unit you can blow with pump to remove any dust is not causing this problem if work then good other wise you need replace len unit
Lens error 16 means the lens has popped out of its tracks internally. This happens if the lens is out when the camera is dropped. Most require a new lens. If the lens is crooked, it is possible to straighten it sometimes. See the picture. Attempting to straighten the lens can break it but rarely makes things worse. If the lens is jammed in, not much can be done without a technician.
Did you drop this camera anytime in the near past , if so then it apparent that the barrel assy is off aligment , jammed or broken. Very common problem with dropped cases. If not then you have a sticky/defective motor/sensor which is not allwoing the barrel to complete it startup cycle. There is nothing much as user you can do to sort this problem out , instead take it to a camera reapir centre. best of luck
Two posibilities : either the gear box needs attention or the lens itself is impacted . The first problem is not so expensive to sort out by your repair outfit but the impacted lens problem is expensive ( may require replacing lens assy. ).
Anyway camera has to go in I am affraid.