The lens doesn't focus properly with auto-focus

The camera gives the correct in focus signal, but the plane of focus is much closer when in wide angle. In telephoto it will focus and also with the focus assist IR beam in low light! It gives an error code: 18000930- zoom sensor error- Mechnaical Lock FP9005-(1) 2 isgnalline, or IC6001 (Venus FHD) . To explain, when I half depress the shutter, it seeks focus, but goes through a clear focus and ends up being very out of focus. I have tried 'reset', but no change.