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Err is usually a camera malfunctrion. Re,ove the batery,a aaaaaatuen camera switch off/on 2-3 times *as if battery still in), replace battery and try again. Read Owners manual or got to Nikonusa.com to download a manual (or to ask Nikon) and determine if your D100 has a hardware reset switch(my dc70 does) and utilize that. If tht does not solve the issue, then service by an authorized Nikon tech is advised.
The mode dial (topside left) must be set to M. That's it for manual settings - the camera won't check anything, and certainly shouldn't require the flash. You need to choose your own shutter speed and aperture settings to get a good photo, but the camera will let you take a picture no matter how you have it set.
You need a new shutter box.
It may be worth cleaning the contacts on both camera and lens. Clean the contacts in the lens mount using a fiberglass "pencil"
designed specifically for cleaning contacts. These are available at
just about any photo supply store/firm.