5100 is a carriage error, check the timing strip for contamination(plastic strip about 1/4" in width)
The unit is not homing, check for obstructions.
or you might try
This error means that there is something obstructing the printing process. Check inside your printer through the gears that you can see under the lid. There should be something obstructing the gears such as dirt or a foreign object . check there is nothing even some paper caught underneath the rollers that I had to jiggle around to even see. Check VERY thoroughly.
hope this helps
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