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If you try turning on the camera with the lens cap on, you may get zoom error. Ensure that you are removing the lens cap before turning on the camera.
If the autofocus ring is held while taking the picture, or operating the lens this will also cause the Zoom error message coming up.
If that is not the problem, then the lens has troubles extending. This may happen because of dust stuck in lens mechanism, or because of a mechanical fault concerning the lens. Any cause preventing lens from full extention or retraction will trigger zoom error.
The lens has probably got something in the retraction mechanism that is stopping it retracting. This can be something as simple as sand or grit or as a result of a drop or knock. In most cases the camera will need to be stripped apart to remove the lens assy before it can be repaired. This is best left to a professional camera repair shop.
the problem is that the lens is out of alignment. if its not making grinding sounds try manually help the lens to reseat itself. if that doesnt work its not ecomical to repair unit cuz parts and labor are about 120-130 dollars.
With Battery out try to pull the lens towards outside
Do that gently do Don't rip it off !!!
Probably you will hear a click sound and If you do,
than put the battery back turn on and you should be fine
Every case is different so of the lens is jammed this will help
If the lens assembly is damaged than the only way is to sell the rest of the camera for parts.
It looks like a problem with the zooming mechanism (lens would not retract or extended)
Press the power button on and hold it down while extending and twisting the telescopic zoom lens. It might fix your problem.
In any case it could not make it worse