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I only can think of two reasons. The first, the battery does not have enough power. As a safety precaution it shuts itself down, to avoid damage to the saved pictures. Because if the voltage is to low, it can't write with 100% accuracy.
Second: something is blocking free movement of the lens. This could have a cause inside the lens barrel, and you won't see a thing. It also could be a minute damage on the outside of the lens. Or what sometimes happens while putting the camera on, you touch the lens barrel. I assume you did remove any lens cap attached to the camera.
So if you can't see any damage to the lens barrel, charge the battery and try again.
If the camera's lens will not retract out, then eventually shuts down, here is what you try to do.
Hold the camera from your right hand with the lens facing down. Then tap the base of the camera to your left palm while turning the camara on; do this several times until the camera's lens retracts out.
This problem often occur when the camera was taken outdoor or in the beach. Sand or a tiny granule of dirt might got stuck in the base of the lens.
Lens error is usually caused by mechanical faults concerning lens assembly. The lens cannot extend or retract fully, the error is detected and lens error is returned. Sometimes this can be fixed playing with the lens during extraction or retraction to help the lens asset getting back to normal. More often the camera lens must be disassembled and re-assembled by a technician to fix the problem.
Sounds like the lens got bent out of alignment. Call Canon at 1-800-828-4040. They are really good with their support with or without warranty. You can send it in for repair or ask for the Canon loyalty Program. You trade in your broken camera and they'll give you a newer model for an incredible price.
Sorry to say but a lens error actually is a problem that you cannot fix at home. When a lens error occurs, the motors inside that make the lens retract and protract were some how damaged, usually caused if the lens try coming out when you have it in your pocket or against a surface so it cant fully come out. You will have to send the camera in for service and you can do that by calling 1-800-706-2534, option 1.