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I had the same issue with my Nikon d60...my 18-55mm did auto focus but
my 55-200mm only manual focused, i thought it might have been my camera
as i heard that not all lenses are compatible with my d60 but it turned
out to be the focussing motor or something that was damaged, it was
making a very funny noise when it tried to auto focus with it,like a
screeching sound..if this is the case you should get it repaired and
looked at, also check on the lens if it says it is a AF lens,if so make sure th switch on the side of the lens is switched on AF not MF. hope it helps
Take battery out and clean contacts with an eraser on the end of a pencil. Then try. What stage is the lens - all the way out or partway? OPut a finger on the lens barrel - do not puch it - this will ruin the drive- switch off the wieght of finger may be enough for the lens to get into gear..
excuse me if this is a dumb question but you wouldn'tbelieve the things people do...., but in manual mode are you actuallymanually trying to move the lens? as manual mode means just that you take hold of the lens and turn it. If it wont turn it sounds like the lens is jammed and needs returning/repairing.
if taking hold of the lens and turning it works for manual mode, take the lens off and clean the gold contacts on both the camera and the lens with a pencil erasor this may bring the auto focus back to life, switch back to auto and try again, if not its most likely the lens but take the body to a canon store and try another lens just to double check the body is ok
the reason it makes the "grinding" noise is because the motor that moves the lens to read the disk is dieing, this generally happens when you have played your ps2 for a long time, this only happens to older consoles.