Quite often just the one clean won't dislodge the gunk built up on the heads. Make sure you use a new wet system head cleaner and you may have to run it a few times to clear the clog. JUST DON'T USE COTTON BUDS OR WOVEN RAGS. BMW
My cam did the same after 2 hrs use from new-[over 18 months between] and although warranty only 1 year they are repairing free of charge
More common on JVC's, so far this is the first RCA I saw that gives this message. Bottom line, fair chance its a manufacturing fault, and you should try to get RCA to acknowledge it. Word is that Fuji makes the best head cleaners, but in any case, the less times you run head cleaning tapes the better it is for your camcorder. Don't mix tapes, use one brand and a good one - Fuji, pana, sony, for ex. Tape deposits is a double edge sword. What you start to get into is the actual abrasiveness of the tapes themselves. The more abrasive tapes actually do a better job of preventing clogs etc. Yet, the tape, by being more abrasive, reduces the head life more. Good luck
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