Hi i had the same problem with my 2001 is200.
if you have the same problem err3 its because 1 of the cd carriers maybe twisted but this is very easy to fix.
all you need to do is remove the top cover, the cds wil be on top just re sit the carriers and replace the top it will work fine
this will not work with pre 2001 as the cd changer is under the cassette player.
hope this helps