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It is best that you take your printer to a certified service center for Canon, its possible that it just need cleaning and that something is tripping the sensor and sending the wrong signal. Gheck if the paper feeding sensor is ok, usually the trigger could be broken, compare it with the same printer and look for differences.
On the otherhand, if you are sure and you are a technical person with repair experience, please check with the Canon main distributor or sales office near you. They have parts specific to your needs, if not they can point you to the right place.
Another alternative is to go a Canon repair shop and ask if they have a scrap printer with the same model as yours.
Remove the ink cartridges and print-head then remove the long skinny piece of foam and wash it and dry it - don't wring it out but press it between sheets of paper towel. You'll see lots of ink come out of it.
Using more paper towel, clean out all the ink you can find inside the printer - there will be lots. Look at the end where the print-head parks and you'll see 2 more sponge pieces. Don't remove them but use plenty of towel to absorb as much ink as you can from them.
Once you think everything is clean look for any loose bits of paper inside and remove them. Then, refit the now dry piece of foam. It's not as hard as it looks as the thing is shaped so that it will only fit in one way. Make sure it is properly seated then refit the print head and the carts and switch on.
I've had this happen twice in the last year on my ip5200 - particularly when using scrap paper.
Error 5100 is Carriage error.Possible problems in: - Carriage unit - Timing **** strip film - Logic board assembly - Carriage motor First, make sure there is no paper jam anywhere in the machine.. look inside, rear, where the paper tray (output) is, etc to see if you find any shreds or torn paper that may have gotten stuck and you didn't see.Look carefully in the zone of Purge unit, using flashlight in the right side on printer.If this not help your printer need service.
I would suggest opening the printer up and taking a good look inside to see if there is any kind of obstruction. Jus a tiny piece of torn paper is enough to cause the whole feed system to jam up. Another thing to look for it that if the paper it getting pulled in straight. If it goes crooked on its way in, your paper feed itself might be the root cause.
I assume that you've cleaned the nozzles and alignment utility.
Try wiping the carriage bar with a lint free cloth dampened with rubbing alcohol. Also, the paper feed rollers may have collected some "goo" and should be cleaned with the rubbing alcohol. This should clear the problem.
The rubber wheels that feed the paper in can be too soft to grip the paper.
After a long dicussion with the help desk, HP supplied me with a special Paper Feed Cleaning Kit for the 3200 series. This comprises a scraper device that you insert into the paper feeder, and a driver CD. I had to use it three times, Now everything woerk fine.