The ERR message indicates a camera malfunction. In my D-90 manual it says that it can be cleared by releasing the shutter. The only way to do that is to turn the camera off and back on. Rarely, that won't work and you have to remove and reinstall the battery.
The manual also says that it this have frequently or persist to contact a Nikon authorized service center. I would contact Nikon tech support at www.Nikon.com and discuss the problem them before contacting an authorized service center.
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