When the camera turns on it attempts a "reset" to make sure that it is in a known state. The lens error message indicates that the lens reset has failed. Usually this means that the lens has not completed the extension and retraction in the correct amount of time, or it couldn't extend to its final outbound position. The camera requires service to clear up the problem with the lens assembly. You can check for dirt or debris around the lens or anything bent or damaged. But, other than that the lens assembly is a fixed and sealed unit and typically can not be "repaired".
Dan