OK, good news!
I went and grabbed a standard 5.6v 1w axial zener from the electronics store - pretty ugly and not a 3W (hoping that means it will be more likely to blow in the future....)
Anyway - I can power up from 24v now, 5v power is OK, no more low voltage warning.
All inputs are working again
Spindle control is working again.
Thanks for the assist Peter - this seems to be a testament to how well these boards are designed.