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It sounds to me like the gears that extend and retract the lens have been damaged, they are made of plastic and are easily broken. Replacement gears are available on a "well known auction site" that everyone should be familiar with.
I was THRILLED to find this fix for my camera when the shutter wouldn't open. The 590 is a little different than the 540 in these pics, but the solution still worked. I didn't even have to do as much disassembly as he did--just had to take the little circular thing off the top of the lens, and clean the little flap things inside. Here's the link: http://ilmoita.net/mot/?p=4
I had this problem. Nothing was lodged between the body and lens, restarting multiple times did nothing, cleaning, torquing, twisting over several days - nothing.
So, figuring "what could it hurt?" I just smacked it on the heel of my hand a couple times. Now it works.
firm percussive maintenance saves the day once again.
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