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Error 51 normally indicates a paper jam or a sensor problem. Check the paper path and the printer head movement zones (far left and right) for any foreign objects (even small pieces of paper). If there has been a paper jam, was the paper forcibly removed? If so, possibly one of the sensors has been knocked out of position or damaged. Dust, dirt, grease or spilled ink may also be contaminating a sensor. This is maybe one of the most elusive problems to solve..!
If you look at the Brother websiteyou will find a trouble shootingguide for your machine. In the guide, for the error you quote Brothers guidance is to check for a stuck piece paper, however it also states that if the printhead is hard over to one side (righthand side if memory serves me correct), then to contact Brother. If you do so, Brother will tell you it needs to be serviced by a Brother agent, which will likely cost you more than a new one ! If it isnt a stuck piece of paper, the problem is due to the fact that Brother machines excessively self-clean. Each time they self-clean a small amount of inkis dumped in to a holding tank/sponge. When a predefined number of self-clean operations have been performed, the machine refuses to printand gives the error messageyou have stated. Brother state that the tank/sponge must be replaced before the counter is reset, again by a Brother agent. However, there is a way of reseting the self-clean counter yourself - if you Google your model number and the error code somewhere in the results you'll find how to do it. The only risk of doing this without changing the tank/sponge is that it will eventually overflow and leak out the bottom, but I did my Brother all in one some time ago and have had no problems yet.
Unable to clean means that the waste-ink "sponge" is full. If you've already checked for small paper part (which is very unlikely to cause this error message), the error is mechanical. Unfortunately, that's not something us users can change, but the machine would require to be sent to service. So if your machine is not within warranty, I'd doubt it'll be worth the service cost.
Print Unable XX The machine has a mechanical problem. —OR— A foreign objects such as a clip or ripped paper is in the machine.
Open the scanner cover and remove any foreign objects inside the machine. ( You might try cleaning the scanner glass.)
If the error message continues, disconnect the machine from the power for several minutes and then reconnect it.