It also had problems autofocusing this lens with my PZ-1p bodies. Upon attaching the lens, I needed to twist the focus ring just a bit until the autofocus drive engaged. Then it would work okay. You might try this.
It is an early autofocus lens, introduced in 1987. I am not sure why it does not autofocus better with later bodies, but it doesn't. I wonder if other F lenses have this problem. Some people have no problems with it.
Joe
