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You've probably got a bit of grit stuck in the mechanism. You can buy puffer brushes from photo-shops. Its a fiddly job but i'd suggest teasing at the mechanism with one of these puffing/brushing until its free.
The lens cover of PSA60 opens along with the move of the objective lens. Normally the camera will sound an error beep when the lens does not end to the end position -- the lens cover is also not fully opened. In reverse, the lens will be retracted when the camera is switched off. The "shutter" (outside lens cover) might have something stuck inside the blades or other mechanical parts that prevents the lens cover fully closed. Try to blow with a clean air (no hot air - because it can damage the electronics or plastics). Or maybe the blades are probably not flat that may create resistance on the surface. Try to flatten the blades by hands. Or maybe the mechanical systems need to be calibrated (by Canon service center). My suggestion, try to exchange/trade-in your PSA60 with the latest model at the Canon center, because I have done it last year (trade-in with PS S5IS).
Fully charge the battery or connect the camera to the power supply (if you have an ac adaptor).
If it still does not work, it means that the lens is broken.
Reason can be that the camera was in your pocket pr carrying bag and the camera inadvertantly open and the lens mechanism was damaged. In this case, it needs repair.
1. Remove the battery and put in back in after about a minute waiting time. See if this works when camea is in the Record Mode.
2. If not, with camera on, grasp it firmly with one hand and strike it on its edge on the heel of your other hand. This sometimes frees a momentarily stuck lens. BTW, this will sometimes work for other problems like lens cover not fully opening and freezing(lockup) of camera. Do this with camera on. Won't hurt camera when done against a firm but pliable surface like the heel of your hand.