This paper concerns the visual servoing invariant to changes in camera intrinsic parameters. It presents a new model-free visual servoing scheme which permits to position a camera equipped with a motorized zoom with respect to an object independently on the planarity of the object. Indeed, planar objects are singular cases which cannot be handled by previous intrinsics-free visual servoing. The method proposed makes it possible to bring back a camera to its reference position. The focal length is initially controlled in order to keep the object in the field of view of the camera during the servoing. Then, the control of the focal length allows to solve the singularity for planar objects.