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CD drawers are normally driven by a small rubber belt that comes off or snaps. If you take the top cover off the unit you might be able to find the belt. If it's broke just measure the diameter in MM and put that into Google with the words "drive belt".
It is likely worn drive belts. There are 2 within this hi-fi. I replaced my belts with elastic bands. No issues so far.
1) Remove power and unplug unit
2) Remove 4 x lid screws and lid
3) Remove both side panels.
4) Remove silver plate from shielding cd drive
5) Replace belts with 25mm diameter bands
6) Reverse the strip down.
New belts are $6 each on e-bay
The 5 disc carousel CD player has a belt driven mechanism in it. And after about 3-4 years the belt looses its tension and cannot push the tray in or out. If you keep your ears on the top cover and turn on the system you will hear a whirring sound coming from the inside which will prove my point. There are two belts in the machine. One for the eject mechanism and the other for disc change mechanism. One has to seek professional help to replace both because there is timing sequence also involved like the cam shaft of an engine.
You need only measure the diameter in MM and put that and "CD/Cassette drive belt" into google and you should find a supplier. A few MM either side shouldn't make difference. Drive belts etc are none specific makers by the way.
Unplug the units power, unscrew and remove the top. it has 3 screws on the back and I believe 2 in each side. Look to see if anything such as a CD is jamming or preventing the tray from opening.
If there isn't something like a CD physically blocking the door mechanism then the issue could be anything from a slipping drive band a dead motor or something has gone wrong with the mainboard.
The "expected" life of an audio component is 5-9 years. If its past 3 years old its generally not worth repairing as 1 hour labor and a motor for instance would cost you more than the cost of a new unit.
I had the exact problem and could not get any of the CR-Rs that I had to work. I looked up the code in the user's manual where it said the error means it's not a recordable audio CD and to refer to page 6. I looked at the front of the manual and saw that it mentions that the CD-Rs must be audio CD-R discs. I did some research online and found that there are in fact differences between CD-Rs that are just marked that and those marked as Audio or Music CD-Rs. I bought a set of CD-Rs that clearly had marked "Compact Disc Digital Audio Recordable" on the package. When I inserted this disc, I had no problems getting the recording to work. So, make sure the discs you use are clearly marked "Audio" or "Music". A computer burner won't know the difference, but your Denon recorder will.
First place to troubleshoot for the above listed issues are the gears, if gear driven spindle, or the belt if it is belt driven. If gear driven spindle apply enough non-attractive lubricant to the gears so they function freely. If belt driven clean all surfaces that the belt touches to ensure all dust or debris is removed and then lubricate center spindle posts only so that they can rotate freely and with as little friction as possible.
Buy A CD Lens Cleaner and put it in to the CD Player and keep retrying until the drive plays it and then follow the instructions for the CD Lens Cleaner after its finished try playing a CD if it still wont play try another disc and if it does not play that try reset the player by unplugging it for five seconds if it still wont play the CD drive has failed in the drive and you need a new stereo. Stereos dont last forever so dont be surprised if you need to buy a new one
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