Pfriemler, thank you for this!
I had completely torn down and put back the grinder burr assembly and it hadn't solved the grinder blocked message, looking at the service manual (
https://www.commentreparer.com/doc/13908/SAECO-ROYAL-service-manual.pdf ) I was able to go into the service menu (from energy saving, press preground, medium coffee, small coffee all at once then tap Menu...maybe) it briefly displays the firmware version then shows input switches on the first line (eg dregs drawer, doser, brew unit presence, etc) and the second line will light as you press buttons. The buttons trigger doser electromagnet, grinder, brew unit direction, etc. This way I was able to confirm the motor (and attached burr) still moved OK.
The automated cycle still didn't like it so I gently backed off the left-hand thread torx-10 head screw (ie screwed it slightly clockwise to loosen) and I was then able to pull shots again! Almost 24,000 coffees on this unit and this was the hardest repair (not that any of them have been too bad).
The bearings and their tensioning springs can be seen at
https://imgur.com/a/UZfPoFz along with the body underneath the lower burr holder. Be sure to vacuum up any coffee without vacuuming up the rubber shock absorbers before reassembly (the holder and springs go in then balls on springs then burr, nylon screw cap and lefthand thread screw.