I don't know this machine specifically but it sounds to me as though a worn, broken belt or a gear that has slipped of its axle. Hope it turns out to be something that simple.
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When you manually assist the opening, does it complete it's excursion on it's own and then close on it's own? Or do you have to pull it all the way open, and push it closed?
Also does it play the disc without any errors?
One thing you may try if you haven't is unplug the unit and press all the buttons on the face plate while it is unplugged. Then leave it unplugged for 30-40 minutes. This will eliminate any stored capacitance in it's memory and force it to return to it's factory defaults. If upon restarting the unit it continues to malfunction, then find a reputable repair center and have it further diagnosed. It could be a simple switch or a transport.
There is a cheap fix ($5!) for your problem, the same one I just dealt with. There is a plastic gear which makes the tray slide in and out. It wears with use and exposure to our polluted atmosphere. Look on ebay for a replacement, different versions for different transports. You can replace the gear yourself, or buy it off ebay and take it with your player to a tech.
I have a SA-11S1 with a similar issue, drawer sticking. I put a little bit of graphite dry lube on the sides of the drawer, and that seems to help quite a bit.
Mine has the Ultimate Tube Mod by pcX, and is therefore very difficult to replace, it still sounds great. Since using the dry lube, I might have to hit the open button twice once in a while, but for the most part, I don't have to manually assist the drawer with opening anymore.
Samzx12, from your description, if the others suggestions don't locate the fix. I am wondering if maybe it is the drawer face plate hanging up on the on the faceplate of the component. Some of these players that I have owned the face plate on the drawer snaps off usually by lifting up and pulling out but be careful not to break any of the retainers. Once you have that off , see if the drawer opens and closes freely. Hopefully it's something that simple, good luck.