lens error-message-please turn camera off and on again

When turning camera ON, all appears normal for a few seconds, then the ERROR MESSAGE "PLEASE TURN CAMERA OFF AND THEN TURN ON AGAIN".

When turning OFF, the lens stays out.

When turning back ON, the lens retracts, then extends and stays out, and the process repeats. (The shutter does not work during the few seconds that operation appears NORMAL.)

I've replaced the battery with a fully-charged one. No difference in operation.