On page 256 of the D-90 user manual it says that an ERR message indicates a camera malfunction and that the malfunction can be cleared by releasing the shutter. I found that the only way I could release the shutter is to turn the camera off and back on. On rare occasions, I have needed to remove and reinstall the battery.
The manual says that if this problem persists or occurs frequently you should contact a Nikon authorized repair center for instructions. I recommend that you contact Nikon tech support at www.nikon.com before you send your camera for repair just in case they may have a solution that won't cost you any money for repairs. If the camera is still under warranty, I would definitely contact Nikon tech support to see what they have to say.
Try shooting in manual mode with lens set at maximum (wide open) aperture. Then try at a smaller f-stop, say 5.6 or 8. If the error message appears when your lens is set to the smaller aperture, you could have a lens problem. Try another lens using the same test. If a known good lens gives an error message, then the problem is in the body. Also try zooming to different focal lengths and see if your 18-105mm gives the error at particular focal lengths. An error here would indicate a lens problem. In any case, your lens or body would have to be repaired by a professional as these repairs require major disassembly and re-calibration.
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