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I just had the same 5100 error yesterday. First it was paper jamped and then remove it.
How to remove jamed paper properly, check out the rear bottom under rear feeder, remove the cover there ( which can remove ) and then you will see the jamped paper and should remove it genthly from there.
After that, the 5100 code may occur. Switch off the machine and turn it on again, wait until the LCD display and then press on Menu botton go to Maintenance/Setting and then go to "Maintence" and start to clean/check out as the function listed out there. After performed all of the listed there but not "Deep nozzle cleaning" which will consume a lots of ink, and all function perform correctly, the code will be gone. If not, I don't know, wait until next problem come up ;-).
Have fun.