This is copied and pasted info but figured it might help with any further questions. Basically if you have a f51 tilt the machine back and look for any burnt, loose, or cut wires. If all that looks fine order the part number listed at the bottom of this post.
Model # WTW6200SW0, this top load washer would intermittently display an error message during a wash cycle requiring the load to be started again after clearing the display. The problem was infrequent at the beginning, but continued to get worse with time. After trying different sized loads thinking there may be some correlation, the customer finally called for service to get it fixed.
The F51 error is a RPS (rotary position sensor) board failure where the control board looses contact with the RPS during the machines operation. The RPS uses hall effect sensors to determine the speed and direction of the drive motor, allowing the control board to constantly monitor the motors operation. Because this error is a communication error and not a mechanical error with the motor itself (that would be and F52 error) we can limit our trouble shooting to the three items that make up the RPS circuit, the control board, the wiring harness, and the RPS itself.
Looking at the wiring diagram for the RPS circuit, we will find a wiring harness consisting of brown wires connecting to the top of the control board. From here, we can test for our output voltage on pin 6. As long as we have our 15vdc on this pin, that indicates the control board is working. Our next stop is under the machine to locate the RPS board.
Tipping the machine back will reveal the motor directly underneath the tub. The RPS board is mounted on the right side (follow the brown wires) and under the motors rotor disk. An Allen wrench is used to remove the rotor and then the four bolts holding the motor stator to the tub can be removed. Once the motor is out, we can get to the RPS and the wiring harness and do a continuity check on each wire between each end of the harness. If our readings indicate a good harness, we are down to the RPS itself and it would need to be replaced. Of course there is one other thing to do, and that is make sure the connection from the harness to the board is good.
Many of these boards were manufactured with a clear lacquer being applied to the boards to protect the wire traces, and unfortunately, many of the contacts themselves became covered. This results in a poor connection to the harness connector and provides for an poor intermittent signal to the control board. To repair this unit, I removed the RPS board and using my jewelers file, cleaned the contacts for proper electrical connection. Once everything was reassembled, it ran two complete diagnostic cycles without a hiccup. And now the customer can get some laundry done without restarting the machine.
(RPS) Rotor Position Sensor Part # W10183157
SOURCE: Whirlpool washer Cabrio WTW6600SB1
Its the Rotor Position Sensor very easy solution!!!chat with me online and ill step you through it save up to $65 (my in-home rate in florida is $75!!!!!!!)
SOURCE: Whirlpool Cabrio HE washing machine
I work for an appliance repair company and I had a recent service call for the same exact situation on this washer. I also know that Rotary Position Sensor is linked to the F-51 error code. I have found that this is not always the case. On this paticular call the F-51 error code was caused by a piece of clothing (sock, wash cloth, etc.) being stuck or jammed between the internal basket and the outer tub. I removed the cloth and the washer ran fine, so give that a check first before you spend the money.
SOURCE: In mid wash the Kenmore Elite Oasis HE flashes F51 and
check if basket turns freely. if it does replace the main board
SOURCE: whirlpool cabrio washer showing F51 error code
Hi Craig,
Just saw this post come up among F51 error codes (as it will show previously posted and answered questions ) and wanted to add some info I have regarding this exact issue you may or may not already have, no harm in posting either way.
The F51 typically indicates a failed "RPS" has been detecected...but it can be the result of other issues...just for future reference and if anyone has not come accross this before.
The scenario you describe is usually associated with a item stuck under the tub or a loose stator or a faulty "RPS" device or connection at the "RPS"...but I don't know if you checked that yet or if you know how, thus the error F51.
**The repair tip below is directly from Whirlpool**
F51 is usually associated with the rotor and stator/RPS assembly and quiet often it is initiated due to a loose rotor or bad RPS...I'd start by checking the bolt.
There is a repair tip regarding this which suggest checking the wires to the RPS and then the rotor, while insuring the center bolt is really tight via applying some "lock tight".
I actually see a lot of these and most times it's a loose rotor bolt, that is where I always start my diagnosis. Here's an exert from my files directly from Whirlpool...
You may want to check the rotor, I've seen the center bolt become extremely loose, thus causing the F51 error, this is where and what to look for shown below... 
...but either way that should help out with the repairs and good luck.
Regards,
Macmarkus :)
Hi,
The error means that washer repeatedly quits mid-cycle. Basically, the F51 error is a rotor position sensor error.
Also check the below article for details:
http://cabriof51error.blogspot.com/
http://appliancejunk.com/forums/index.php?topic=1753.0
Thanks,
E-ware
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