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error code 5100 means it cannot recognize the follwing UO51 cartridge. A lot of the time the cartridges need to be re-set. for this :--
Remove both cartridges, turn off the printer for a few seconds. Then, restart your printer and wait for it to warm-up. When it's finished warming up and you see the error code for missing ink cartridges, open the printer and insert both of them and close the printer.
That might take care of it because the restarting of your printer, "fakes it out" every once in a while.
Try this... it worked on my MP450... Turn the printer on and open the lid, it shows the cartridges. Now let the cartridges settle to the left. You can notice that the cartridges run on a metal belt. It might be dirty, mine showed a black stripe on it. Take a cloth, a cleenex will be fine and clean it up. Move the cartridges to the right (force them with your hand) and clean the part of the belt left behind them. Now turn it off, close it up and turn it back on. It should work
Have you taken the printer apart? as the issue I had with our spare printer was that the home mechanics around here had taken ours apart for some reason and had not put the paper roller pin back in correctly. it was sticking out preventing the ink tank holder from moving.