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This happened to me with a Canon SD880is one time. Dropped it from about 3 feet onto a tiled floor. Lens did pretty much the same thing and was obviously knocked out of it's helical track. I tapped hard on the front of the lens housing while lens was attempting to extend and popped it back into it's track, has worked fine since. Not sure I'd recommend that for a $600 camera, but maybe all it needs is a good rap on the lens.
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Linear Mode
