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This is probably THE single most common failure among digital cameras. There's a halfway chance of fixing it yourself, described here: http://camerarepair.blogspot.com/2007/12/fixing-lens-error-on-digital-camera.html
I've had similar problems with various versions of this camera. Here's
the fix, if all else fails. These are step-by-step instructions to take
apart and fix the camera's lens error.
the beeping sounds means that your camera lens is stuck. contact the manufacturer (canon), for a possible solution...or they can even send u a new one. My friend dropped her SD630 and had the same problem...she contacted canon, and sent in her camera to be fixed, but it wasn't fixable, so canon sent her a brand new camera. hope this helps.
A lens error due to impact damage most often requires service.
If you get an E18 message or a "lens error restart camera" message on your LCD screen and you restart the camera several times to no avail, you will almost certainly need to call Canon Tech Support at 1-800-828-4040 and have it sent in for service as there is little or nothing you can do to resolve the issue.
A lens error on these can happen after a drop as you said had happened. It's best to have it go into a service center, they can service the camera and replace the broken part and have you your camera working perfectly again. The one that many people go with for the Canon Powershots is: www.camerasandparts.com They are not much at all and they do excellent work. They're about half the price of what Canon wants and they include all of the service, parts and everything else. If you need help with it, they'd be the place. Good luck with the problem.