When a Panasonic is giving "no read" and there are "grinding" or "scrubbing" noises this usually indicates that the DVD Drive rubber hub needs cleaning.
When a Panasonic is giving "no read" and there are loud "clunking" or "chugging" noises this usually indicates that the lens is dirty or has failed. Other problems may include a failing or failed Digital PCB or some problem with the ribbon cables from the DVD Drive to the Digital PCB (on 2006 models such as the DMR-ES35V and perhaps a few other international models) or there is some problem with the ribbon cables to the DVD Drive on-board controller board (on 2005, 2007, 2008 models and perhaps a few other international models).
For rubber hub and lens cleaning advice see this thread:
You will also find helpful photos in that thread or links to other posts with helpful photos.
Before securing the DVD Drive lid be sure that the roller/slider at the rear of the disc tray is positioned to the far left. Do not extend the disc tray with the drive lid removed. Complications are sure to arise.