CD ERROR 4 on 2004 Scion xA

My brand new CD's get stuck in the player and the screen says ERROR 4. I have cleaned the player with a CD Cleaner Disc and when I shut down the player and use it another day it is fine. I know I can take out the player and bring it to a dealer. I want to know what the ERROR 4 means and how I can fix it myself.

I've seen a lot of Scion car club site people complain about Error Code 4 being displayed on there stereo, The dealer warranted a lot of these units for this reason. There are several stereo repair facilities that repair the factory units the link below has instructions on how to remove the stereo as well.
A lot of Scoin owners suggested replacing the unit with another type of stereo as these units were troublesome..