Andrew - yep, the 24v regulator is on a piece of tag board. I notice there are a few circuits on this size/style board dotted around the machine...
John,
The components are as follows, connected top-bottom or as described:
Capacitor: 470uF, 63v electrolytic, negative to top strip.
Empty tag pair
Mystery diode (signal diode I think), looks like "4002" printed on it. -ve end down.
TIP31A base (bottom tag only)
TIP31A collector (bottom tag only)
TIP31A emitter (bottom tag only)
Empty & unused tag pair
Zener diode BZX61C24, -ve end faces down
Resistor, 820 ohm (confirmed with multimeter)

The top left 3 tags have GND, +24V, and INPUT from bridge rectifier (pins 2,3,1 on the schematic Andrew posted).
Andrew: I've had the unit functioning, but it kept cutting out (stating "Emergency Stop"), which I hope is due simply to the 7824's not delivering sufficient current. I was obviously overvolting them as well, as the output voltage was beginning to drift downwards away from 24v...
Edit: Please note the wire link between the -ve end of the Zener & the resistor... that is original