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A 'lens error' is usually not a good thing. Many digital cameras have gone to the service center as a result, owing to otherwise unrepairable difficulties with the lens assembly and its action - which is delicately assembled and full of fine components, and almost impossible to 'field-repair'.
But tell me what the exact signs and symptoms are, please. It might be the rare case where a little careful effort can revive the camera.
Use the Reply To Expert function to let me know the details, and I will advise you as appropriate.
If you put pressure on the lens assembly, when you put on the lens cap before the lens was fully retracted, that may have disordered the lens extension mechanism.
Is the lens now fully retracted? Does it move at all when the camera is turned On?
The camera will require servicing, I regret to say. It isn't a problem with lens motion, not by the sound of it and the lens behavior. Just the inner parts of the lens assembly are not responding, it seems.
This does - looking back to your original question - mean that you need to send it to Canon repair, yes.
Canon repair can be initiated by going to
or you can call 1-800-OK-CANON.
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